A knowledge based control strategy for a biped

The characteristics of a knowledge-based control strategy that support dynamic stability in a walking machine are discussed. A generalized set of solutions is optimized through simulation, and tabulated in an organized way for real-time use. Once properly evoked, the generalized solutions are modified on the basis of, sensory input. The result is a faster, less complex and adaptive control process. This work is part of a larger research effort centered on autonomous motion of bipeds