DocumentCode
1556686
Title
Control law decoupling for 2-D biped walking system
Author
Cotsaftis, M. ; Vibet, C.
Author_Institution
UGRA CEN-FAR, Fontenay aux Roses, France
Volume
7
Issue
3
fYear
1988
Firstpage
41
Lastpage
45
Abstract
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.<>
Keywords
biocontrol; biomechanics; 2D biped walking system; Lagrangian; block-diagram scheme; control law decoupling; direct nonlinear decoupling method; n-degree of freedom biped system; pole assignment problem; state-space representation; Control systems; Lagrangian functions; Legged locomotion;
fLanguage
English
Journal_Title
Engineering in Medicine and Biology Magazine, IEEE
Publisher
ieee
ISSN
0739-5175
Type
jour
DOI
10.1109/51.7934
Filename
7934
Link To Document