On the Control of Attitude of Biped Locomotion by Linear-Motion Balancer

Abstract

A biped locomotion has been developed for the purpose of its application to transport machines. A leg-mechanism has been designed to realize a horizontal walking at a constant speed. A new control system has been also composed of a linear-motion balancer in order to avoid the vertical fluctuations of the gravitational center of the body and to decrease the space occupied by the balancer. The conditions of dynamic stability and the determination of parameters of the system have been discussed both theoretically and experimentally.