Abstract
Extensive literature exists on the dynamics and control of two-legged walking apparatuses, and their mechanical design. Many works contain theoretical studies [1, 2], some experimental works are also known [3–9]. Several prototype biped walkers and algorithms of their control have been designed. Some of them have been tested experimentally. Unlike multi-legged walking apparatuses that can move within the static stability, a biped with uncontrollable feet can maintain dynamic stability only. This makes the control of bipeds difficult. Two apparatuses were designed at the Institute of Mechanics of the Moscow University: one having telescopic legs [8–10] and another of anthropomorphic kinematic scheme [ 10 ].
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Beletsky V.V. Biped walking. Model problem of dynamics and control. M., “Nauka”, 1984 (in Russian).
Formal’sky A.M. Locomotion of the anthropomorphic apparatus. M:”Nauka”, 1982 (in Russian).
Kato T., Takanishi A., Naito G., Kato I. The realization of the quasi dynamic walking by the biped walking machine. Proc. of Int. Symp. on Theory and Practice of Robots and Manipulators ROMANSY, 1981.
Mita T., Yamaguchi T., Kashiwase T., Kawase T. Realization of high speed biped using modern control theory. Int.J. of Control 1984, V. 40, No 1.
Miuro H., Shimoyama I. Dynamic walk of biped. Int.J. of Robotics Research, 1984, V. 3, No 2.
Yamada M., Furusho J., Sano A. Dynamic control of walking robot with kickaction. Proc. of ICAR, Tokyo, 1985.
Furusho J., Mashubushi M. Control of dynamical biped locomotion system for study walking. Trans. ASME: J.Dyn.Syst.Meas. and Contr. 1986, V. 108, No 2.
Grishin A.A., Zhitomirsky S.V., Lensky A.V., Formal’sky A.M. Walking of biped vehicle with two telescopic legs. Izv. AN USSR, Tech. kibern., No 2, 1991 (in Russian).
Grishin A.A., Formal’sky A.M., Lensky A.V., Zhitomirsky S.V. Control of a biped vehicle with telescopic legs. Proc. of the Second Eur.Contr.Conf., Groningen, 1993, V. 3, p. 1265–1268.
Devjanin E.A. et al. Control of adaptive walking robot. Preprints 10-th World Congress IFAC. Munich, FRG, V. 4, p. 218–225.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1995 Springer-Verlag Wien
About this paper
Cite this paper
Budanov, V.M., Lavrovsky, E.K. (1995). Design of the Program Regime for Biped Walking Anthropomorphic Apparatus. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 361. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2698-1_49
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2698-1_49
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82697-3
Online ISBN: 978-3-7091-2698-1
eBook Packages: Springer Book Archive