Design of the Program Regime for Biped Walking Anthropomorphic Apparatus

  • V. M. Budanov
  • E. K. Lavrovsky
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)


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 ].


Program Regime Generalize Angle Double Support Biped Walking Nominal Trajectory 


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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • V. M. Budanov
    • 1
  • E. K. Lavrovsky
    • 1
  1. 1.Moscow State UniversityMoscowRussia

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