Contribution to the integrated control of biped locomotion mechanisms

This work is concerned with the integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of the humanoid mechanism, a servo system model, and an environment model. The control scheme was synthesized using the centralized model of the system and the hierarchical principle, with tactical and executive control levels. The proposed structure of the dynamic controller involves four feedback loops: position-velocity feedback at the robotic mechanism joints, dynamic reaction feedback at Zero-Moment Point, impact force feedback at the instant when the foot strikes the ground, and the load feedback of the mechanism joints. Simulation experiments are carried out for a number of characteristic examples. The numerical results obtained, along with theoretical study, serve as the basis for a critical evaluation of the performance of the devised controller.