抄録
This paper presents a new methd to control biped locomotion robot. In general the motion of the constrained dynamic system, that corresponds to the double support phase in biped locomoyion, is described by using lagrange multiplier. In this paper we describe the system by using penalty function and propose a new method to control it. This method can equally control both the constrained system in the double support phase and the unconstrained system in the single support phase. and can control optionally the reaction force from the floor. Therfore it is useful to control not only biped locomotion but also manipulators.
