Analysis of Stability of Dynamic Biped Locomotion with High Gain Feedback

摘要

In this paper we give some theoretical consideration to biped locomotion of a 3-link walking robot, which is controlled by high gain feedbacks around two joints at the hip.When the gains are high enough, the dynamics of the robot can be uniformly approximated, on any finite time interval, by the one of a perpendicular pendulum.Using this result and analyzing rigorously the one cycle of walking, we reveal why stable periodic motion is realized through high gain feedback control, and give some gait conditions for the realization.The method and results are easily extended to the biped robot which has 4 or more links.