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The mechanics of biped running and a stable control strategy

Published online by Cambridge University Press:  03 October 2008

Muhammad E. Abdallah  and
Kenneth J. Waldron
Muhammad E. Abdallah*
Affiliation:
General Motors Research, Warren, MI 48090, USA
Kenneth J. Waldron
Affiliation:
Stanford University, Stanford, CA 94305, USA. E-mail: kwaldron@stanford.edu
*
*Corresponding author. E-mail: muhammad.abdallah@gm.com
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Summary

This work presents an analysis of the mechanics of biped running with a heuristic control strategy for stable running. A tractable model of the mechanics is presented through principles, measures, and a time-distributed perspective. This model motivates the control strategy and provides a basis for extending the strategy to more general systems. The control strategy consists of a simple set of four rules, where the key rule considers the leg length upon liftoff. The Steady-State Index is proposed as a characterization of biped running. It identifies and relates the parameters affecting running and has broad applicability to both biological and robotic systems.

Keywords

Biped robotsRunningDynamicsControlsBiomechanics
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 789 - 799
Copyright
Copyright © Cambridge University Press 2008

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