Investigation of the Compass Biped Walker's Passive Dynamics and Trajectory Tracking Method for Chaos Control

摘要

The aim of this research is to manage the precise and rhythmic movements of a bipedal robot with a compass configuration as it undergoes a passive dynamic walk. To approximate the walking pattern of a biped robot, we implement an impulsive hybrid nonlinear system. To start with, we showcase the fact that a passive walk by a bipedal compass robot can exhibit unexpected behaviors like bifurcations and chaos with the aid of bifurcation diagrams. In order to suppress such complex nonlinear tendencies, we resort to two methods for regulating the bipedal compass-type robot and achieving a one-periodic gait. The control approach used in this study is based on the passive dynamic walking of the biped robot, and the objective is to follow the trajectory of the period-1 passive movement during the swing phase.