56

3. 9

Conclusions

In this chapter, we have described a control system capable of generating and controlling stable

3D

bipedal

walking

limit

cycles

from

unstable

open

loop

motions.

A

number

of

key

simplifications were made, leading to a well-behaved discrete system which is remodelled for each

step using a discrete linear model. The details of each of the system components and their roles in

the overall system were described and examples were given for a walking human model.

In the following chapter, we will present some of the results obtained by applying this control

strategy to our dynamic models.