The goal of this research is to provide new knowledge on the adaptive system control of biped locomotion by integrating innovative sensor and actuator designs into a conceptual control system model. Preliminary research has led to the creation of a distributed adaptive control system model in general form, innovative initial designs for attitude and ground sensors, and a novel servo value for hydraulic actuators. Research will focus on refinement of the control system model, including establishment of performance characteristics for the sensors that are usable in the control model, and refinement of the adaptive parameter algorithms. Efforts will also be applied to improvements in the sensors and actuators.
