A control theoretic study on dynamical biped locomotion

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 102, Issue 4, 1980, Pages 233-239

  Miyazaki, Fumio ^a   Arimoto, Suguru ^a  

^a OSAKA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS - MATHEMATICAL MODELS; MATHEMATICAL TECHNIQUES - PERTURBATION TECHNIQUES;

TIME AND MOTION STUDY;

EID: 0019286415     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3149608     Document Type: Article

References (8)

1. Vukobratovic, M., Frank, A. A., and Juricic, D., On the Stability of Biped Locomotion, IEEE Trans, on Biomedical Engineering, BME-17-1, 1970, pp. 25-36.
2. Gubina, F., Hemami, H., and McGhee, R. B., On the Dynamic Stability of Biped Locomotion, IEEE Trans, on Biomedical Engineering, BME-21-2, 1974, pp.102-108.
3. Golliday, C. L., and Hemami, H., An Approach to Analyzing Biped Locomotion Dynamics and Designing Robot Locomotion Controls, IEEE Trans, on Automatic Control, AC-22-6, 1977, pp. 963-972.
4. Imaizumi, T., and Mori, M., Systematic Investigation of Idealized Biped Locomotion Model from the Viewpoint of Gait, Proc. 3rd Symp. of Japan Society of Biomechanical Engrs., 1975, pp. 243-251.
5. Levin, J. J., and Levinson, N., Singular Perturbations of Nonlinear Systems of Differential Equations and an Associated Boundary Layer Equations, J. Rat. Mech. Analyt., Vol. 3, 1954, pp. 247-270.
6. Hoppensteadt, F., Properties of Solutions of Ordinary Differential Equations with Small Parameters, Communications on Pure and Applied Mathematics, Vol. 24, 1971, pp. 807-840.
7. Kokotovic, P. V., O’Malley, R. E., and Sannuti, P., Singular Perturbations and Order Reduction in Control Theory - An Overview, Automatica, Vol. 12, 1976, pp. 123-132.
8. Miyazaki, F., and Arimoto, S., A Control Theoretic Study on the Dynamics of Biped Locomotion, Trans. Society of Instrument and Control Engrs., Vol. 14-4, 1978, pp. 428-433.