Abstract：This paper explores the real-time gait control method of biped dynamic walking. Under the condition of posture control, the gait stability of walking process is discussed in detail, and the structure and the design method of gait controller are presented. Based on posture control and gait control, this paper provides a real-time T-P (Time-Position) control strategy for biped dynamic walking. The simulation results demonstrate that the proposed real-time control scheme is feasible.
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 Arimoto S,Miyazaki F.Stability and Robustness of PID Feedback Control Robot Manipultors of Sensory Capability.Robotics Research,the First International Symposium,The MIT Press,Chap 9:783～799 3 Kajita S,Tani K.Study of Dynamic Biped Locomotion on Regged Terrain-derivation and Application of the Linear Inverted Pendulum Mode.Proc of the 1991 IEEE Inter Conf on Robotics and Automation,California,April 1991 4 Channon P H,Hopkins S H,Pham D T.Derivation of Optimal Walking Motions for a Bipedal Walking 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 6 马宏绪,张彭,张良起.两足步行机器人动态步行的姿态稳定性及姿态控制
