Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
type: Item
instance of: scholarly article
title: Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
zbMATH Open document ID: 0699.70002
author: Miomir Vukobratović
author: Branislav Borovac
author: Dušan Surla
author: Dragan Stokic
published in: Communications and Control Engineering
publication date: 1992-09-17T00:00:00Z
review text: The monograph presents the results of the many-year period of studies in the field of biped locomotion and its application by a group in the Biocybernetics Department of the Institute ``Mihajlo Pupin'' as well as resuls of researchers from several other centres in the world. It consists of four chapters and two appendices. Chapter 1 considers the dynamics of biped gait. A survey of the results on mathematical modelling of biped locomotion mechanisms is given. The synthesis of anthropomorphic gait is described that is based on the original method of the prescribed synergy, known in the literature as the semi-inverse method. Appendix provides a detailed account of the method for modelling dynamics of the biped gait using Euler's angles. Chapter 2 is devoted to the problem of synthesis of the nominal dynamics of biped mechanisms. A special programming package is used which has been developed on the basis of the mathematical model using the general theorems of mechanics. The locomotion mechanism is modelled as a set of branched chains of the open configuration in the single-support gait phase, while in the double-support phase the chain representing the mechanism's leg is closed. Chapter 3 is devoted to the control of biped motion and to the problem of its stability analysis. Its first section reviews the results in the field, including also some results in the domain of realization of the artificial gait. The concept of two-stage control synthesis is used. In the first stage the control is synthesized which should ensure realization of the nominal (programmed) motion, while in the second stage (the stage of perturbed regimes), the problems considered are concerned with the gait realization under the conditions deviating from the normal ones. A special method of control synthesis at the stage of perturbed regimes is developed in which accelerations of correctional movements of the mechanism are constrained in order to prevent significant disturbances of dynamic equilibr…
Mathematics Subject Classification ID: 70-02
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 93D15
zbMATH DE Number: 45392
zbMATH Keywords: dynamics of biped gait
zbMATH Keywords: biped locomotion
zbMATH Keywords: control of biped motion
zbMATH Keywords: stability analysis
zbMATH Keywords: two-stage control synthesis
MaRDI profile type: Publication
description: scientific article; zbMATH DE number 45392