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The dynamics of the biped locomotion system with many degrees of freedom are analyzed from a control theoretic point of view. By the use of the singular perturbation technique, it is shown that biped locomotion can be divided into two modes with respective time scales, the fast mode and the slow mode. Based on this fact, a control system for dynamical biped locomotion is constructed. The effectiveness of the proposed control algorithm is verified using computer simulation.
Miyazaki et al. (Mon,) studied this question.