Control of stability of a walking biped

Control of a dynamically unstable biped locomotion system is becoming increasingly important to industry and rehabilitation medicine. This thesis attempts to design a feasible system for controlling the stability of biped locomotion. The technique uses the dynamics of an inverted pendulum to represent the dynamic behavior of a biped system. The analogy between an inverted pendulum and a biped system is well-established in the field of bio mechanics. An algorithm which is sufficiently meaningful to describe the basic characteristics of the system is derived. A control system is designed to actively stabilize the unstable behavior of the system. The general control parameters are calculated relative to practical constraints.