How to Control Artificial Anthropomorphic Systems

This paper describes, in a polemical way, the possible ways for synthesis of artificial gait, taking into account its application in the rehabilitation of severely disabled paraplegics. The essential relation between the hierarchical control concept of artificial legged locomotion systems and human beings has been treated. The method of prescribed synergy has been described in detail. This method, in the author's opinion, renders wide possibilities in solving delicate problems in the synthesis and control of artificial anthropomorphic gait. The possibility of applying the gait-logic description in the synthesis of finite automata and the possibility of driving system hybridization in the rehabilitation of persons with muscular insufficiency have also been considered.