Abstract
Physically based modeling and feedback control techniques are used to simulate realistic motion for a planar 7-link biped. Multibody modeling, contact constraints, optimal balancing, and gait cycle generation will be discussed. Efficient multibody dynamics computation allows accurate motion to be simulated in real-time. A full state feedback linear-quadratic regulator control system is used to generate the joint actuator torques for balancing, and a state machine-PD controller is used for walking motion. The control system was designed to maintain stability on various surface environments and in the presence of external disturbances. Real-time interactive simulation software has been developed to allow the user to operate the biped system within a 3D virtual environment. Comparison of the 7-link biped simulation results to other planar biped models, as well as to human walking data, is presented.
