Stability and Control of Legged Locomotion Systems

Abstract

The report is a Ph.D. dissertation devoted to a study of stability and control in legged locomotion systems. All of the results obtained apply to a twelfth-order nonlinear differential equation model for the dynamical behavior of an animal or legged vehicle in three-dimensional space. These differential equations are linearized and necessary and sufficient conditions for stable postural control system operation are derived for bipeds and for quadrupeds. The applicability of the results obtained to the nonlinear model is verified by a vibrational mode study of the nonlinear system by means of a computer simulation. The vibrational mode analysis and synthesis techniques are then used to obtain stable feedback control laws for four different quadruped gaits and for one type of biped walk. The results presented should be useful in the design of autopilots for legged vehicles for improved offroad locomotion and in obtaining a deeper understanding of locomotion in animals and man.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1971
Accession Number
AD0727806

Entities

People

  • Ammembal L. Pai

Organizations

  • Ohio State University

Tags

Communities of Interest

  • Biomedical

DTIC Thesaurus Topics

  • Air Force
  • Computational Fluid Dynamics
  • Computational Science
  • Computer Programs
  • Computer Simulations
  • Control Systems
  • Coordinate Systems
  • Differential Equations
  • Equations Of Motion
  • Equations Of State
  • Inertial Navigation
  • Inertial Navigation Systems
  • Joints (Anatomy)
  • Linear Systems
  • Mathematical Analysis
  • Medical Personnel
  • Three Dimensional

Fields of Study

  • Mathematics

Readers

  • Fluid Dynamics.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers