Further Analysis of the Passive Walking Gaits of the Compass Biped Robot: Bifurcations and Chaos

摘要

In this paper, we are interested in the analysis of the passive walking gaits of the compass-type bipedal robot while descending sloped surfaces. This type of biped robot is a two-degree-freedom mechanical system characterized by an impulsive hybrid dynamics that brings out attractive nonlinear phenomena like chaos and different types of bifurcations. In this work, we investigate by means of bifurcation diagrams, the influence of certain parameters on the passive motion of bipedal robot. As a result, we show the exhibition of new complex walking behaviors emerged from different types of bifurcations such as the period-doubling bifurcation and the Neimark-Sacker bifurcation, and also emerged via the period-remerging scenario. These results further confirm the complexity of the biped/human walk.