{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,4]],"date-time":"2024-08-04T20:36:17Z","timestamp":1722803777549},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":7191,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1989,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A novel approach to control synthesis of biped locomotion mechanisms is suggested. The synthesis is carried out in two stages: the stage of nominal regimes (the synthesized control has to ensure the realization of gait in the absence of any disturbance), and the stage of perturbed regimes (the control has to eliminate deviations from the nominals under an additional condition of preserving the stability of the overall System). At the level of perturbed regimes, the proposed control synthesis should ensure the compensating movements such to bring the System ot its nominal during the gait. However, the compensating movements can, as a side\u2013effect, induce the undesirable inertial forces which can influence the mechanism overall stability. To avoid this, it is suggested such a control which ensures that the acceleration of compensating movements does not exceed a value given in advance. In addition, the case is considered when an additional correction of the zero moment point ZMP position is accomplished by different mechanism joints.<\/jats:p>","DOI":"10.1017\/s0263574700006093","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:20:38Z","timestamp":1236691238000},"page":"231-241","source":"Crossref","is-referenced-by-count":14,"title":["An Approach to Biped Control Synthesis"],"prefix":"10.1017","volume":"7","author":[{"given":"B.","family":"Borovac","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Vukobratovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D.","family":"Surla","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700006093_ref006","first-page":"343","article-title":"Constrained Inverted Pendulum Model for Evaluating Upright Postural Stability","volume":"104","author":"Hemami","year":"1982","journal-title":"J. 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Bernstein N.A. , On the Motion Synthesis, (in Russian) (Medgiz, 1947)"},{"key":"S0263574700006093_ref009","first-page":"705","article-title":"Significance of Force-Feedback in Controlling Artificial Locomotion\u2014Manipulation Systems","volume":"27","author":"Vukobratovi\u0107","year":"1982","journal-title":"IEEE Trans. Biomedical Engineering"},{"key":"S0263574700006093_ref017","volume-title":"Scientific Fundamentals of Robotics","author":"Medvedov","year":"1978"},{"key":"S0263574700006093_ref012","unstructured":"12. Gubina F. , \u201cStability and Dynamic Control of Certain Types of Biped Locomotion\u201d, IV Symp. on External Control of Human Extremities, Dubrovnik, (1972) pp. 146\u2013160."},{"key":"S0263574700006093_ref001","doi-asserted-by":"crossref","unstructured":"1. Vukobratovi\u0107 M. , Legged Locomotion Robots and Antrapamorphic Mechanisms, (Monograph, \u201cM. Pupin\u201d Institute, Belgrade, 1975).","DOI":"10.1016\/S1474-6670(17)67614-6"},{"key":"S0263574700006093_ref018","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-81857-8"},{"key":"S0263574700006093_ref002","unstructured":"2. Surla D. & Konjovi\u0107 Z. , \u201cDynamic Models of Spatial Active Mechanisms of Open and Closed Configuration\u201d First Soviet\u2013Yugoslav Symposium on Applied Robotics, Moscow (1983) pp. 151\u2013156."},{"key":"S0263574700006093_ref005","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(72)90065-X"},{"key":"S0263574700006093_ref004","doi-asserted-by":"crossref","unstructured":"4. Chow C.K. & Jacobson D.H. , \u201cStudies of Human Locomotion via Optimal Programming\u201d Technical Report No. 617 (Division of Engineering and Applied Physics, Harvard University, Cambridge, Mass. 1970).","DOI":"10.21236\/AD0714805"},{"key":"S0263574700006093_ref007","doi-asserted-by":"publisher","DOI":"10.1080\/00207728008966997"},{"key":"S0263574700006093_ref010","volume-title":"Biped Gait","author":"Beletskii","year":"1984"},{"key":"S0263574700006093_ref011","volume-title":"Locomotion of Anthrapomorphic Mechanisms","author":"Formal'skii","year":"1982"},{"key":"S0263574700006093_ref014","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143752"},{"key":"S0263574700006093_ref019","unstructured":"19. Surla D. , Borovac B. & Z. Konjovi\u0107, \u201cContribution to Modeling and Control of Anthrophomorphic Mechanisms\u201d Second Yugoslav\u2013Soviet Symposium on Applied Robotics, Belgrade (1984) pp. 195\u2013204."},{"key":"S0263574700006093_ref020","unstructured":"20. Athans M. , Falb P. , Optimal Control, (in Russian) (Mashinostroenie, 1968)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700006093","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,19]],"date-time":"2019-05-19T20:11:33Z","timestamp":1558296693000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700006093\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,7]]},"references-count":20,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1989,7]]}},"alternative-id":["S0263574700006093"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700006093","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,7]]}}}