Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
Analysis of Stability of Dynamic Biped Locomotion with High Gain Feedback
Shigeyuki HOSOEKihachi TAKEICHISatoshi KUMAIMasami ITO
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1986 Volume 22 Issue 9 Pages 948-954


In this paper we give some theoretical consideration to biped locomotion of a 3-link walking robot, which is controlled by high gain feedbacks around two joints at the hip.
When the gains are high enough, the dynamics of the robot can be uniformly approximated, on any finite time interval, by the one of a perpendicular pendulum.
Using this result and analyzing rigorously the one cycle of walking, we reveal why stable periodic motion is realized through high gain feedback control, and give some gait conditions for the realization.
The method and results are easily extended to the biped robot which has 4 or more links.

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