A Study of the Passive Gait of a Compass-Like Biped Robot

  title={A Study of the Passive Gait of a Compass-Like Biped Robot},
  author={Ambarish Goswami and Beno{\^i}t Thuilot and Bernard Espiau},
  journal={The International Journal of Robotics Research},
  pages={1282 - 1301}
The focus of this work is a systematic study of the passive gait of a compass-like, planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the "hip" joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. We show that in response to a continuous change in any one of its parame ters, the symmetric and steady… Expand
The analysis on bifurcation and chaos in the compass-gait biped
Three parameters, namely the ground slope angle, and the mass ratio and length ratio of the robot are used here to observe the target gait property to improve the robot performance as well as generating new gaits. Expand
A period-three passive gait tracking control for bipedal walking of a compass-gait biped robot
It is revealed that the compass-gait biped robot presents an elegant and attractive manner to walk with the period-three passive gait which can be employed in some desirable objectives for the passive bipedal walking. Expand
Abstract Passive dynamic walking is an essential development for the biped robots. So the focus of our work is a systematic analysis of the passive walk of a planar biped robot on an inclined slope.Expand
Period-three route to chaos induced by a cyclic-fold bifurcation in passive dynamic walking of a compass-gait biped robot
This paper finds a window in the parameters space of the compass-gait model where there is multistability and shows that a pair of stable and unstable period-three gait patterns is generated through a cyclic-fold bifurcation. Expand
Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
The validity of the designed control law by means of the controlled Poincare map in the stabilization of the passive dynamic walking of the compass-gait biped robot is shown. Expand
A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot
The development of an improved closed-form analytical expression of the impact-to-impact Poincare map for analyzing the complex walking behavior of the passive-dynamics biped walker and its stability is concerned. Expand
Cyclic-fold bifurcation in passive bipedal walking of a compass-gait biped robot with leg length discrepancy
We report on the analysis of passive bipedal walking patterns generated by a compass-gait biped robot having leg length discrepancy. Such two-degrees-of-freedom biped robot but with equal leg lengthExpand
A Passive 2-DOF Walker: Hunting for Gaits Using Virtual Holonomic Constraints
This work proposes a new approach to find stable as well as unstable hybrid limit cycles without integrating the full set of differential equations and, at the same time, without approximating the dynamics. Expand
A Stability Mechanism of the Fixed Point in Passive Walking
A passive walker can walk down shallow slope with no energy source other than gravity. This motion is very attractive because its gait is really natural and ideal. Moreover, the walker can exhibit aExpand
Gait control of a biped robot using an exact limit cycle trajectory and the backstepping method
The kinetic energy of passive gaits in downhill walking gains from gravity and dissipates during the impact with ground. Hence, the passive gait is supposed to consume the least amount of energy inExpand


Compass-Like Biped Robot Part I : Stability and Bifurcation of Passive Gaits
It is well-known that a suitably designed unpowered mechanical biped robot can «walk» down an inclined plane with a steady gait. The characteristics of the gait (e.g., velocity, step period, stepExpand
Limit cycles and their stability in a passive bipedal gait
This paper demonstrates that the nonlinear dynamics of a simple passive "compass gait" biped robot can exhibit periodic and stable limit cycle and presents an active control scheme which enlarges the basin of attraction of the passive limit cycle. Expand
Compass gait revisited
Abstract It has been established that a suitably designed unpowered mechanical biped may “walk” down an inclined plane all by itself and eventually acquire a stable periodic gait. The characteristicsExpand
Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws
This paper demonstrates the existence and the stability ofsymmetric and asymmetric passive gaits using a simple nonlinear biped model and investigates the performance of several active control schemes. Expand
Bifurcation and chaos in a simple passive bipedal gait
It is shown here that, depending on the parameters of the system, passive compass gait may exhibit 1-periodic, 2/sup n/-periodic and chaotic gaits proceeding from cascades of period-doubling bifurcations. Expand
Control of a two-link robot to achieve sliding and hopping gaits
  • M. Berkemeier, R. Fearing
  • Engineering, Computer Science
  • Proceedings 1992 IEEE International Conference on Robotics and Automation
  • 1992
A new example of a hopping robot is considered, consisting simply of two links (the end of one link acts as the foot) joined by an actuated, revolute joint, in which the robot achieves both sliding and hopping gaits. Expand
The simplest walking model: stability, complexity, and scaling.
We demonstrate that an irreducibly simple, uncontrolled, two-dimensional, two-link model, vaguely resembling human legs, can walk down a shallow slope, powered only by gravity. This model is theExpand
A control study of a kneeless biped locomotion system
Abstract In this paper, a control study on a three-degree-of-freedom kneeless biped locomotion system is performed. Based on the biped dynamics and joint trajectories of the walking gait, a robustExpand
BIP: a joint project for the development of an anthropomorphic biped robot
  • B. Espiau
  • Engineering
  • 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97
  • 1997
The BIP project is a French joint project, started in fall 1994, which involves four laboratories. Its goal is to design a 17-joint anthropomorphic mechanical biped robot aimed at the study of humanExpand
The swing up control problem for the Acrobot
Underactuated mechanical systems are those possessing fewer actuators than degrees of freedom. Examples of such systems abound, including flexible joint and flexible link robots, space robots, mobileExpand