Modeling, stability and control of biped robots—a general framework

Modeling, stability and control of biped robots - a general framework

The focus of this survey is the modeling and control of bipedal locomotion systems. More speci6cally, we seek to review the developments in the 6eld within the framework of stability and control of systems subject to unilateral constraints. We place particular emphasis on three main issues that, in our view, form the underlying theory in the study of bipedal locomotion systems. Impact of the lo...

Model Predictive Control and Stability Analysis of a Standing Biped with Toe-Joint

In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...

Biped Locomotion: Stability, Analysis and Control

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...

Train Scheduling Problem - Phase I: A General Simulation Modeling Framework

One of the important problems in management of railway systems is train scheduling problem. This is the problem of determining a timetable for a set of trains that do not violate infrastructure capacities and satisfies some operational constraints. In this study, a feasible timetable generator framework for stochastic simulation modeling is developed. The objective is to obtain a feasible tr...

Modeling, Control and Simulation of Upward Jump of a Biped