Abstract
In biped locomotion, there are double legs supporting phase with kick and single leg supporting phase with making a forward step. The purpose of this study is dynamic analysis and control in double legs supporting phase.
This phase is a closed loop links system (constraint dynamic system), in which dynamic states (floor reaction, joint torque) are restricted because the foot are not fixed on the floor. Therefore, it is preferable to use an analytical method by which dynamic states would become clear.
In this respect, this paper first refers to analytical method by D'Alembert's principle, in which static forces are derived from static equilibrium equations for each link. Then, based on analytical result, control experiment is made, and the utility of this method is shown.
