An Approach to Biped Control Synthesis

A novel approach to control synthesis of biped locomotion mechanisms is suggested. The synthesis is carried out in two stages: the stage of nominal regimes (the synthesized control has to ensure the realization of gait in the absence of any disturbance), and the stage of perturbed regimes (the control has to eliminate deviations from the nominals under an additional condition of preserving the stability of the overall System). At the level of perturbed regimes, the proposed control synthesis should ensure the compensating movements such to bring the System ot its nominal during the gait. However, the compensating movements can, as a side–effect, induce the undesirable inertial forces which can influence the mechanism overall stability. To avoid this, it is suggested such a control which ensures that the acceleration of compensating movements does not exceed a value given in advance. In addition, the case is considered when an additional correction of the zero moment point ZMP position is accomplished by different mechanism joints.