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

@article{Goswami1998ASO,
  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},
  year={1998},
  volume={17},
  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
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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
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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
FEASIBILTY ANALYSIS OF WALKING OF PASSIVE DYNAMIC BIPED ROBOT
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
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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
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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
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TLDR
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
TLDR
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
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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
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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
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