Control of stability of a walking biped

dc.creatorAgrawal, Laliya B.
dc.description.abstractControl 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.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginreformatted digital
dc.rightsThis item is protected by copyright but is made available here under a claim of fair use (17 U.S.C. Section 107) for non-profit research and educational purposes. Users of this work assume the responsibility for determining copyright status prior to reusing, publishing, or reproducing this item for purposes other than what is allowed by fair use or other copyright exemptions. Any reuse of this item in excess of fair use or other copyright exemptions requires express permission of the copyright holder.
dc.subjectAutomatic control
dc.titleControl of stability of a walking biped
dc.type.genreThesis College of Engineering Engineering, Department of Engineering of Houston of Science


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