Biped Locomotion

1: Dynamics of Biped Locomotion.- 1.1. Introduction.- 1.2. A brief survey of mathematical models used to study the effects arrising with locomotion systems.- 1.3. Artificial gait synthesis — a method based on prescribed synergy.- 1.3.1. Single-support phase.- 1.3.2. Double-support phase.- References.- Appendix Description of the Mechanical Model Using Euler’s Angles.- 2: Synthesis of Nominal Dynamics.- 2.1. Introduction.- 2.2. Modelling the robotic system dynamics.- 2.3. The method based on fundamental theorems of mechanics as a tool for forming dynamic equations of motion for open kinematic chain.- 2.4. Forming dynamic equations of motion for comple.- kinematic chains.- 2.5. Closed kinematic chains.- 2.6. Synthesis of functional movements.- 2.7. The prescribed part of dynamics.- 2.8. Numerical results.- References.- Appendix - Programme LOCDYN.- 3: Control and Stability.- 3.1. Introduction.- 3.2. Survey of results on biped posture and locomotion control and stability analysis.- 3.2.1. Postural control.- 3.2.2. Gait control.- 3.3. Model of the system.- 3.4. Control synthesis.- 3.4.1. Some notes on biped control synthesis.- 3.4.2. Synthesis of control with limited accelerations.- 3.4.3. Synthesis of global control with respect to ZMP position.- 3.4.4. Simulation of walk for a specific biped structure.- 3.5. Stability analysis.- 3.5.1. Modelling of composite subsystems.- 3.5.2. Stability analysis.- 3.5.3. Stability analysis for a specific biped structure.- 3.6. Conclusion.- References.- 4: Realizations of Anthropomorphic Mechanisms.- 4.1. Introduction.- 4.2. Exoskeletal and orthotic systems.- 4.2.1. Introduction.- 4.2.2. Development of active exoskeletons for rehabilitation.- 4.2.3. Modular active orthosis - the “active suit”.- 4.2.4. Other biped realizations.- 4.3. Hybrid joint concept.- 4.3.1. General remarks.- 4.3.2. Efferent functional electrical stimulation model.- 4.3.3. The hybrid system model.- 4.3.4. Simulation results.- 4.4. Legged robots.- References.