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32

stepping with left foot

stepping with right foot

IMAGE Imgs/thesis.final.w636.gif

IMAGE Imgs/thesis.final.w635.gif

t

Figure 3.6- Overall limit cycle control structure for a walking biped. The walk
begins with the left leg as the stance leg. B is the open-loop base
PCG. C is the overall applied control for each step, consisting of
the base PCG B and additional (left or right) stance leg perturbations
to balance the step. The Si are the states of B (four in this example).


With suitable parameter choices, the control algorithm is able to generate stable walking limit

cycles whose open loop motion is described by the base PCG.

Appropriate parameter choices are crucial for successful control.

The next few sections describe

each component of the control system for a walking biped.

parameters will be described as they are introduced.

The process of choosing various


3. 4

Nominal Open-loop Control, Unom

A base PCG provides the nominal open-loop control for the periodic motion of the biped.

In the

case of a forward walk, the base PCG consists of a sequence of poses to generate a forward step

with one leg followed by a forward step with the other leg.

The base PCG for walking must

generate motion that is initially close to attaining a balanced walk when used without additional

[CONVERTED BY MYRMIDON]