Summary
The theoretical study on bipedal locomotion is challenging because it may contribute to the understanding of human walking and to design of lower limb prosthesis and locomotion machine. Especially, the dynamic stabilization is one of the most important problems for the applications of theoretical results.
A control method to achieve a dynamically stable bipedal locomotion is presented. The machine is assumed to have a rigid body and two massless legs. The motion of the machine is analyzed by taking into consideration the frictional force between the foot and the ground. The proposed method can generate the similar walking patterns to human walking on the ground.
This is a preview of subscription content, log in via an institution to check access.
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
VUKOBRATOVIC M., JURICIC D., Contribution to the synthesis of biped gait, Trans. of IEEE, BME-16, 1, 1969, pp. 1–6.
VUKOBRATOVIC M., JURICIC D., FRANK A.A., On the control and stability of one class of biped locomotion systems, Trans. of ASME, D, 92, 1970 pp. 328–332.
CHOW C.K., JACOBSON D.H., Studies of human locomotion via optimal programming, Math. Biosci., 10, 1971, pp. 239–306.
VUKOBRATOVIC M., HRISTIC D., CÎRId V., ZECEVIC M., Analysis of energy demand distribution with anthropomorphic systems, Presented at the fourth in sym. on External Control of Human Extremities, Dubrovnik, Yugoslavia, 1972.
FRANK A.A., Automatic control systems for legged locomotion machines, USCEE Report 273, Univ. of Southern California, Los Angeles, 1968.
FRANK A.A., An approach to the dynamic analysis and synthesis of bipedal locomotion machines, Med. and Bio. Engg., 8, 1970,. pp. 465–476.
WITT D.C., A feasibility study on automatically controlled powered lower-limb prostheses, Univ. of Oxford Science Report 1119 /70, 1970.
PAI A.L., Stability and control of legged locomotion systems, Ph. D. Dissertation, Ohio State Univ., Columbus, 1971.
TOWNSEND M.A., SEIREG A., The synthesis of bipedal locomotion, J. of Biomech., 5, 1972, pp. 71–83.
GUBINA F., Stability and dynamic control of certain types of biped locomotion, Presented at the fourth in sym. on External Control of Human Extremities, Dubrovnik, Yugoslavia, 1972.
YAMASHITA T., FRANK A.A., A study of controllability of body motion in a biped by a linearized model, to appear.
MURRAY M.P. DROUGHT A.B., KORY R.C., Walking patterns of normal men, J. of Bone and Joint Surgery, 46-A, 2, 1964, pp. 335–360.
KATOH R., Patterns of vertical resultant force in standing and walking, M.S. Thesis, Kyushu Inst. of Tech., 1973 (in Japanese).
CUNNINGHAM D.M., Components of floor reactions during walking, Univ. of California, Berkeley, 1958.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1974 Springer-Verlag Wien
About this chapter
Cite this chapter
Yamashita, T., Yamada, H. (1974). A Study on Stability of Bipedal Locomotion. In: On Theory and Practice of Robots and Manipulators. International Centre for Mechanical Sciences, vol 201. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2993-7_4
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2993-7_4
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-81252-5
Online ISBN: 978-3-7091-2993-7
eBook Packages: Springer Book Archive