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2/8

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0.4 0.3 0.2 0.1 0 0.1 0.2 0.3 0.42

1.5

1

0.5

0

0.5

1

1.5

2

2.5

ns

d/dt(

ns

)

Limit Cycle of the Compass Gait Biped

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COMPUTED

TORQUE OR

BACKSTEPPING

CONTROL

GRAVITY

COMPENSATION ONLY

ANKLE

TORQUE

PASSIVE

Trajectory

STATE SPACE

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Puck Paddle

SUN SPARC 10 DataCube

Commnication

DSP

D/AConverter

VME Computing System

Motor Amplifiers

Retangular Frictionless Table

Camera

Belt drive for link 3

Motors

3 Link Redundant Manipulator

Visual

Measurement

Prediction

and

Error Estimation

.

.

.... EnvironmentPlant

Controller

M

Visual Process

State Feedback

Task

Planner

N

Task

Planner

1

Opponent

Inputs

Controller

Objective

Supervisor

1

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