Title :
On the gait stability of biped machines
Author :
Frank, Andreas ; Vukobratovic, Marko
Author_Institution :
University of Wisconsin, Madison, WI, USA
fDate :
12/1/1970 12:00:00 AM
Abstract :
The control and stability properties of legged machines in locomotion are considered. The general stability of all such machines is separated into three categories: stability of the body´s orientation with respect to earth; stability of the body´s trajectory; stability of the gait. The control laws for a fully dynamic system with six degrees of freedom are presented. Their stability properties are studied by simulation with the introduction of disturbances.
Keywords :
Legged locomotion; Stability; Actuators; Control systems; Earth; Force control; Leg; Legged locomotion; Mathematical model; Shape; Stability; Torque;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1970.1099573
