Control of a dynamical biped locomotion system for steady walking

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

Volumn 108, Issue 2, 1986, Pages 111-118

  Furusho, J ^a   Masubuchi, M ^b  

^a GIFU UNIVERSITY   (Japan)

^b OSAKA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIOMECHANICS - BIPED LOCOMOTION; SYSTEM STABILITY; SYSTEMS SCIENCE AND CYBERNETICS - HIERARCHICAL SYSTEMS;

BIPED LOCOMOTION ROBOT; HIERARCHICAL CONTROL STRUCTURE; SINGLE-LEG-SUPPORTING-PHASE; STEADY WALKING;

ROBOTS, INDUSTRIAL;

EID: 0022735228     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3143752     Document Type: Article

References (10)

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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. Gollidary, 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. Ogo, K., Ganse, A., and Kato, I., “Quasi Dynamic Walking of Biped Walking Machine Aiming at Completion of Steady Walking,” Proc. of RO. MAN. SY. Symp., Udine, 1978, pp. 340-356.
5. Miyazaki, F., and Arimoto, S., “A Control Theoretic Study on Dynamical Biped Locomotion,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 102, 1980, pp. 233-239.
6. Furusho, J., and Masubuchi, M., “A Theoretic Basis of a Low Order Model for the Control of Dynamic Biped Locomotion System,” contributed to the ASME Journal of Dynamic Systems, Measurement and Control.
7. Furusho, J., Tamura, H., and Masubuchi, M., “A Hierarchical Forecast Control of a Dynamical Biped Locomotion System,” to appear in the Proc. of the 9th IFAC World Congress (1984, Hungary).
8. Milsum, I. H., Biological Control Systems Analysis, McGraw-Hill, 1960, pp. 342-351.
9. Mesarovic, M. D., Macho, D., and Takahara, Y., Theory of Hierarchical Multi-level, Systems, Academic Press, 1970.
10. Whittaker, E. T., A Treaties on the Analytical Dynamics of Particles and Rigid Bodies,4th ed. New York: Dover Publications, Inc. (1944).