Control of a Dynamical Biped Locomotion System for Steady Walking

1986 ◽  
Vol 108 (2) ◽  
pp. 111-118 ◽  
Author(s):  
J. Furusho ◽  
M. Masubuchi
Keyword(s):  
High Speed ◽  
Hierarchical Control ◽  
Reference Signal ◽  
Biped Locomotion ◽  
Order Model ◽  
Reduced Order ◽  
Locomotion System ◽  
Local Controller ◽  
Local Feedback ◽  
The Stability

A dynamic biped locomotion robot which realizes high speed movement is presented. Its walking cycle is about 0.45 s, its speed is about 0.8m/s, and its appearance resembles a human walking. A hierarchical control structure is adopted at the lower level at which the local feedback is implemented. The reference signal to each local controller is supplied from its higher level. The stability of steady walking is examined by using the reduced order model which has been derived by the authors and it is assured by experiments.

A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion

1987 ◽  
Vol 109 (2) ◽  
pp. 155-163 ◽  
Author(s):  
J. Furusho ◽  
M. Masubuchi
Keyword(s):  
Reduced Order Model ◽  
Total System ◽  
Biped Locomotion ◽  
Order Model ◽  
Control Engineering ◽  
Reduced Order ◽  
Articular Joint ◽  
Start Up ◽  
Local Feedback ◽  
Almost All

A new reduced order model of a biped locomotion system and its theoretical basis are presented based upon the concept of local feedback. It has been reported from physiological studies that local feedback at each articular joint exists in human motor control, and the authors have already studied from the viewpoint of control engineering that local feedback makes the total system robust. A theorem is presented by which two dominant modes are obtained by the application of local feedback at each articular joint in the biped locomotion machine and it is shown that these two modes correspond to inverted-pendulum modes. The reduced order model derived by using these two modes contains the effect of the motion of body and swing leg which is indispensable for the control of biped locomotion. It is shown that this model can approximate very well the original higher model in almost all walking phases containing start-up and stopping motions.

Investigating the Stability Characteristics of Natural-Circulation Boiling Water Reactors Using Root Loci of a Reduced-Order Model

2001 ◽  
Vol 136 (3) ◽  
pp. 301-314 ◽  
Author(s):  
Robert Zboray ◽  
Wilhelmus J. M. de Kruijf ◽  
Tim H. J. J. van der Hagen ◽  
Hugo van Dam
Keyword(s):  
Natural Circulation ◽  
Reduced Order Model ◽  
Boiling Water ◽  
Boiling Water Reactors ◽  
Order Model ◽  
Reduced Order ◽  
Water Reactors ◽  
The Stability

scholarly journals Low Order Modeling of Biped Locomotion System Using Local Feedback

1981 ◽  
Vol 17 (5) ◽  
pp. 596-601 ◽  
Author(s):  
Junji FURUSHO ◽  
Hideto MORITSUKA ◽  
Masami MASUBUCHI
Keyword(s):  
Biped Locomotion ◽  
Locomotion System ◽  
Local Feedback ◽  
Low Order

scholarly journals Optimized Hierarchical Control for an AC Microgrid Under Attack

Ingeniería ◽  
2019 ◽  
Vol 24 (1) ◽  
pp. 64-82
Author(s):  
Vladimir Toro ◽  
Eder David Baron ◽  
Eduardo Mojica-Nava
Keyword(s):  
Power Flow ◽  
Hierarchical Control ◽  
Active Power ◽  
Cyber Attacks ◽  
Cyber Attack ◽  
Secondary Control ◽  
Confidence Factor ◽  
Communication Links ◽  
Local Controller ◽  
The Stability

Context: An inverter-based microgrid working in islanded mode can suffer cyber- attacks, these can be done against either the local controller or the communication links among the inverters. Secondary control is able to reject those attacks, however, a tertiary control action is necessary in order to stabilize the power flow among the microgrid. Method: Confidence factor technique allows to reject attacks in a microgrid acting directly over the secondary control, however, this technique omits other factor related to the power available. In this case, secondary control was complemented with a tertiary control that includes optimization criteria. Results: An inverter-based microgrid is simulated in Matlab for different scenarios and under cyberattack, this allows checking the correct response of the controller under attacks and the effective powersharing among inverters. Conclusions: The tertiary control allows stabilizing the active power of the system after the rejection of a cyber-attack by the secondary control. Each inverter supplies active power according to its máximum power rating without affecting the stability of the whole system.

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