DocumentCode
804540
Title
On the gait stability of biped machines
Author
Frank, Andreas ; Vukobratovic, Marko
Author_Institution
University of Wisconsin, Madison, WI, USA
Volume
15
Issue
6
fYear
1970
fDate
12/1/1970 12:00:00 AM
Firstpage
678
Lastpage
679
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.1970.1099573
Filename
1099573
Link To Document