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The use of linear feedback to stabilize the two-degree-of-freedom model of a biped is considered. Linear feedback is used not only for stabilization but also for placing the system poles and for altering the system characteristics. The use of constraints to reduce the number of external inputs required to control the model is investigated. The effect of various linear feedback strategies on the nonlinear model is studied via computer simulation.
Golliday et al. (Sun,) studied this question.