A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion

DOI10.1115/1.3143833zbMath0621.93044OpenAlexW2117185233MaRDI QIDQ3758665

Masami Masubuchi, Junji Furusho

Publication date: 1987

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143833

zbMATH Keywords

reduced order modellocal feedbackdominant modesbiped locomotion system

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (6)

Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations ⋮ Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase ⋮ Implementation of modified chaotic invasive weed optimization algorithm for optimizing the PID controller of the biped robot ⋮ Inverse kinematics and inverse dynamics for control of a biped walking machine ⋮ Chaos: From theory to applications for the 80th birthday of Otto E. Rössler ⋮ Intelligent locomotion control on sloping surfaces

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