Bipedal Balancing: A New Approach

  • John B. Shaw
  • Ming Hsu
  • Michael Mulder
  • Neldon Wagner
  • Normal L. Kerth
Conference paper

Abstract

Progress in the development of a walking robotic biped depends on an understanding of the process of achieving and maintaining balance. Based upon the inverted pendulum model, Raibert has built a hopping monoped able to remain upright [1]. More recently, Furusho and Masubuchi built a bipedal walking machine [2] able to demonstrate a true walking gait. However, as with Raibert’s hopping machine, the motion of the machine is constrained to the sagittal plane. No one has yet demonstrated a biped able to maintain balance in three dimensions.

Keywords

Torque Exter 

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References

  1. 1.
    Raibert, M. H., et al, Dgnamicallg Stable Legged Locomotion. Progress Report: October 1982-Óctober 1983, Leg Laboratory, The Robotics Institution and Department of Computer Science, Carnegie-Mellon University, Pittsburgh, Pennsylvania, December 1983.Google Scholar
  2. 2.
    Furusho, J., and Masabuchi, M., “Control of a Dynamical Biped Locomotion System for Steady Walking”, Journal of Dynamic Systems, Measurement, and Control, vol. 108, 1986, pp. 111–118.CrossRefGoogle Scholar

Copyright information

© Springer-Verlag New York Inc. 1988

Authors and Affiliations

  • John B. Shaw
    • 1
  • Ming Hsu
    • 1
  • Michael Mulder
    • 1
  • Neldon Wagner
    • 1
  • Normal L. Kerth
    • 1
  1. 1.University of Portland Applied Research CenterPortlandUSA

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