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Control and Stability

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Biped Locomotion

Part of the book series: Communications and Control Engineering Series ((1186,volume 7))

Abstract

In this chapter we shall present the theoretical foundations of control synthesis for two-leg locomotion systems. Because of the presence of unpowered degrees of freedom (d.o.f.), the most serious problem which has to be solved is the overall system stability. This is the reason why the control synthesis at two stages has been adopted. At the first stage, the stage of nominal regimes, such control has to be synthesized to ensure the system’s motion in the absence of any disturbance along the exact nominal trajectories calculated in advance. It should be derived in such a way to satisfy the conditions of both the desired gait type and overall system equilibrium. At the second stage, the stage of perturbed regimes, only deviation of the actual state vector from its nominal value is considered, and additional control is applied to force the system state to its nominal. However, the movement thus realized, can induce an additional inertial force which, on the other hand, can produce rotation, of the whole system around the foot edge. The movement should not wake the situation worse, by producing some additional inertial forces. As the nominal system motion is synthesized under the condition of the overall system equilibrium, the best way to realize the system’s return from a disturbed to its nominal regime is to prevent the excursion of the system state out of a certain finite region.

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Authors and Affiliations

  1. Institute »Mihailo Pupin«, Volgina 15, POB 15, Beograd, Yugoslavia

    Professor Miomir Vukobratović D. Sc., Ph. D. (Corr. member of Serbian Academy of Sciences and Arts Foreign member of Soviet Academy of Scienes) & Assoc. professor Dragan Stokić Ph. D.

  2. Faculty of Technical Scienes, University of Novi Sad, Yugoslavia

    Assoc. professor Branislav Borovac Ph. D.

  3. Mathematical Institute, University of Novi Sad, Yugoslavia

    Assoc. professor Dušan Surla Ph. D.

Authors
  1. Professor Miomir Vukobratović D. Sc., Ph. D.
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  2. Assoc. professor Branislav Borovac Ph. D.
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  3. Assoc. professor Dušan Surla Ph. D.
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  4. Assoc. professor Dragan Stokić Ph. D.
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© 1990 Springer-Verlag Berlin Heidelberg

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Vukobratović, M., Borovac, B., Surla, D., Stokić, D. (1990). Control and Stability. In: Biped Locomotion. Communications and Control Engineering Series, vol 7. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83006-8_3

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  • DOI: https://doi.org/10.1007/978-3-642-83006-8_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-83008-2

  • Online ISBN: 978-3-642-83006-8

  • eBook Packages: Springer Book Archive

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