Abstract
A hierarchical structure for the control of a dynamical biped locomotion robot is presented. High gain local feedbacks at the articular joints for making the biped locomotion robust are implemented as the control in the lower level. In the upper level, the reference signal to the local feedback is generated by using a new low order model which is connected to the actual biped locomotion and which gives a good approximation for almost all walking. The anguler momentum is controlled in the hierarchical control structure, since it must be manipulated in many walking motions such as the start-up motion, the stop motion and the recovery motion from the disturbance. The system in our study can talk dynamically and continuously at the speed of 0.8 m/sec. The experiment which is carried out in real-time control shows satisfactory results.
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