A decentralized real-time control for biped robot

Jun Suzuki, Daiki Ito, Takashi Kageyama, Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

8 Citations (Scopus)


This paper describes a structure of a decentralized control for a biped robot system. The biped robot is regarded as the aggregation of some subsystems. A biped walking is implemented by contacting an environment alternately. The environment consists of various objects with a dynamic characteristic. In other words, there are numerous modes in the environment. Therefore, the mode of the environment should be extracted properly in order to realize a stable walking. A certain mode acts on the COG (center of gravity) directly. It is necessary to communicate each mode to the subsystems which need its mode at hard real time on condition that there is no priority in information. This paper discusses a general structure of decentralized control which information is required to communicate at hard real time. The performance of proposed method is confirmed by the developed simulator.

Original languageEnglish
Number of pages5
Publication statusPublished - 2002 Dec 1
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5


Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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