Control of a biped locomotion system in a double support phase

Tatsuo Narikiyoa1 and Masami Itoa2

a1 Government Industrial Research Institute, Kyushu, Shukumachi, Tosu, Saga, 841 (Japan)

a2 Automatic Control Laboratory, Faculty of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464 (Japan)

This paper considers theoretically and experimentally the control problem of the biped locomotion system on the double support phase. The motion on the double support phase is described by the constrained dynamic system with two static constraints. The reduced order equations are derived by eliminating Lagrange's multiplier from the constrained equations, and a control algorithm for stabilizing the motion is obtained in reduced space. Finally, this algorithm is applied to an actual robot constructed in our laboratory and its usefulness is shown.

(Received December 04 1984)