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… 
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.
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.
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.
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.
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 a
Simultaneous control of the compass-gait biped to maintain symmetric gait across all mass ratios
The continuous-time single-support phase of the compass-gait biped is linearized about the upright position and simultaneously stabilized by a linear time-invariant controller that is simple, single-input single-output, and only second-order.
The compass-like biped robot revisited: Nonlinear control of the disturbed passive dynamic walking
The proposed approach to control the biped robot gait when it has disturbance is based on an inverse dynamics controller, evaluated through numerical simulations and compared with another approach based on energetic control.
Minimalistic control of a compass gait robot in rough terrain
  • F. IidaRuss Tedrake
  • Engineering
    2009 IEEE International Conference on Robotics and Automation
  • 2009
This paper presents the simplest control architecture for the compass gait model which can be used for locomotion in rough terrain, and extends the proposed controller with a simple sensory feedback about the location in the environment, which makes the robot possible to control gait patterns autonomously for traversing a rough terrain.
A passive dynamic walking robot that has a deterministic nonlinear gait.


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, step
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.
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.
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.
Control of a two-link robot to achieve sliding and hopping gaits
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.
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 the
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 human
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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, mobile
Human and Machine Locomotion
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Legged Robots That Balance
The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments, and reveals that control of such machines is not particularly difficult.