Thesis - Open Access
Master of Science (MS)
A feedback control system for a bipedal walking machine model given in previous study is presented and analyzed. The bipedal model is first simplified and then equations of motion are derived. Criteria for stability are chosen and different control systems are briefly considered. In the survey of control systems available, it is shown that the sampled-data control system with a large sampling period has some advantages in the practical realization. Such a sampled-data feedback control is analyzed in some detail to determine its control potential. The sampled-data control system analyzed uses a predictive analog control algorithm. The analysis of the controllability shows that when practical values of controlling variables are used, a small and specific region of initial deviations in the body state can be compensated. An analog/hybrid computer EAI 380 was used to simulate the analog controller and experiment with changes in control action. It was found that a great expansion of the controllable region can be achieved by keeping one controlling variable (time of action) at its maximum, while varying the other (torque level) so as to reduce both controlled variables (deviation in body position and velocity) to some compromised minimal value.
Library of Congress Subject Headings
Analog computer simulation
Number of Pages
South Dakota State University
Berger, Gerald Paul, "One way of Stabilizing a Bipedal Walking Machine" (1972). Electronic Theses and Dissertations. 4628.