Control law decoupling for 2-D biped walking system

An explicit form of decoupled controls of a 2-D biped walking system is developed for use in simulation studies. The Lagrangian for an n-link 2-D biped system is first set down. The Lagrange formalism is then written as a state-space representation and a block-diagram scheme is proposed. Next, the direct nonlinear decoupling method is introduced, and an explicit form of generating rules is derived. The pole assignment problem is considered. The case of an n-degree of freedom biped system is investigated.<>