Abstract：This paper presents a new real time control method for biped dynamic walking. By introducing some new concepts of posture stability and gait stability, the control system of biped is separated into two interconnected sub systems of posture control and gait control. Based on the analysis of the posture stability, problems of the trajectory servo control of each joint and the dynamic pendulum of the whole mechanism are studied in detail. The structure and the design method of posture controller are given.
1 马宏绪.两足步行机器人动态步行研究.国防科技大学博士学位论文,1995 2 Arimotoand S, Miyazaki F.S tability and Robustness of PID Feedback Controlfor Robot Manipu lators of Sensory Capa-bility.Robotics Research,the Firs tInternational Symposium,The MITPress, Chap.9,783～799 3 Kajita S TANI K.Study of Dynamic Biped Locomotionon Regged Terrain-Derivation and Application of the Linear Invert-ed Pendulum Mode.Proc of the 1991 IEEE Inter Confon Robotics and Automation, California,April 1991 4 Channon P H,Hopkins and S H,Pham D T.D erivation of OptimalWalking Motions for a BipedalWalking Robot. Robotica,1992,10:165～172 5 马宏绪.两足步行机器人前向动态步行研究.中国青年科技论文精选,1993
