ON ACTIVE CONTROLS FOR A BIPED MECHANISM

The purpose of this study is to simulate the motion of the lower extre mity of a human being, a biped mechanism, walking along a straight pat h and to suggest a control strategy for minimizing the deviation from the linear path. A ''gait'' function is defined as a control that ensu res that the biped walks along a straight path. By varying some parame ters associated with the ''gait'' functions, which is chosen in such a manner as to simulate the motion of one member of the biped relative to an adjoining member, the most suitable combinations of such paramet ers for the specified geometry is subsequently determined. The study c ontributes to a better understanding in the design of robots, humanoid s, and other artificial intelligence (A.I.) systems.