A control strategy for adaptive bipedal locomotion

Rhythmic movements of a five-link sagittal biped with muscle-like actuators are considered. In walking contact is periodically made with the environment as the support phases change. The inputs to every actuator are modeled after the inputs to muscles in mammals. The system possesses intrinsic position and velocity feedback due to the actuator dynamics. A control strategy is articulated that is novel in that (a) it is physiologically viable, (b) it simplifies the dynamics, and (c) it adapts to speed of walking, going up and down stairs, going up or dozen inclines, maneuvering above obstacles or holes, and the tempo and stride length of walking. Simulations of the walk of a five-link sagittal biped are presented.