A Simple Model of Step Control in Bipedal Locomotion

This paper deals with the basic problems of biped gait control. The mechanical structure of the biped body has been reduced to the simple mathematical inverted pendulum. Due to the assumption that the entire mass of a body is concentrated in one point, the control reduces to the proper choice of supporting points, obtained by setting the legs on the ground surface. The process of a gait is considered as a two-level hierarchical organization. The levels may be distinguished on the basis of a difference in time scales, and defined as gait tactics and strategy. The short period tactics are hierarchically subordinated with respect to the long-term strategy. Gait stability is a main task of the tactics, whereas the strategy implies velocity control. The investigations were performed by use of an analog computer with parallel logic. The results of the investigations have been presented in terms of the main parameters of the model gait, as well as in a form of time processes and phase-plane trajectories.