A decentralized real-time control for biped robot

This paper describes a structure of a decentralized control for a biped robot system. The biped robot is regarded as the aggregation of some subsystems. A biped walking is implemented by contacting an environment alternately. The environment consists of various objects with a dynamic characteristic, In other words, there are numerous modes in the environment. Therefore, the mode of the environment should be extracted properly in order to realize a stable walking, A certain mode acts on the COG(center of gravity) directly. It is necessary to communicate each mode to the subsystems which need its mode at hard real time on condition that there is no priority in information. This paper discusses a general structure of decentralized control which information is required to communicate at hard real time. The performance of proposed method is confirmed by the developed simulator.