On the Control and Stability of One Class of Biped Locomotion Systems

[+] Author and Article Information
M. Vukobratović

Mihailo Pupin Institute, Beograd, Yugoslavia

D. Juričić

Department of Mechanical Engineering, University of South Dakota

A. A. Frank

Department of Electrical Engineering, University of Wisconsin, Madison, Wis.

J. Basic Eng 92(2), 328-332 (Jun 01, 1970) (5 pages) doi:10.1115/1.3424999 History: Received December 23, 1969; Online October 27, 2010


The control and stability properties of a “simplified dynamic system” representing a particular biped gait are discussed. The simplified dynamic system consists of an algorithmically controlled lower limb system and a movable point mass. The concepts of repeatability and cyclicity are introduced by means of this model. These concepts provide the basis for control considerations in this class of systems. They lead to conditions which guarantee the maintenance of a gait. Stability of such nonlinear systems cannot be considered by classical techniques. To study stability, the concept of disturbance to nonlinear dynamic systems is introduced. This concept leads to a measure of stability by a quantity termed an “index of capability.” A method of computation for this index for this class of machines is shown.

Copyright © 1970 by ASME
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