• DocumentCode
    820527
  • Title

    Postural stability of the two-degree-of-freedom biped by general linear feedback

  • Author

    Golliday, C.L., Jr. ; Hemami, H.

  • Author_Institution
    Ohio State University, Columbus, OH, USA
  • Volume
    21
  • Issue
    1
  • fYear
    1976
  • fDate
    2/1/1976 12:00:00 AM
  • Firstpage
    74
  • Lastpage
    79
  • Abstract
    The use of linear feedback to stabilize the two-degree-of-freedom model of a biped is considered. Linear feedback is used not only for stabilization but also for placing the system poles and for altering the system characteristics. The use of constraints to reduce the number of external inputs required to control the model is investigated. The effect of various linear feedback strategies on the nonlinear model is studied via computer simulation.
  • Keywords
    Legged locomotion; Linear systems, time-invariant continuous-time; Pole assignment; Stability; State-feedback; Equations; Feedback control; Hydraulic actuators; Leg; Motion control; Neutron spin echo; Stability; Student members; Transportation; Vehicles;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1976.1101142
  • Filename
    1101142
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=820527