International Journal of Robotics Research
Adaptive behavior in turning of an oscillator-driven biped robot
Autonomous Robots
Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion
Robotics and Autonomous Systems
Dynamic effects of arc feet on the leg motion of passive walker
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Enhanced manipulator's safety with artificial pneumatic muscle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An orbit based control for biomimetic biped walking
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Fully interconnected, linear control for limit cycle walking
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Stable dynamic walking over uneven terrain
International Journal of Robotics Research
Running with improved disturbance rejection by using non-linear leg springs
International Journal of Robotics Research
Experimental studies on passive dynamic bipedal walking
Robotics and Autonomous Systems
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Stability control for walking bipeds has been considered a complex task. Even two-dimensional fore-aft stability in dynamic walking appears to be difficult to achieve. In this paper we prove the contrary, starting from the basic belief that in nature stability control must be the sum of a number of very simple rules. We study the global stability of the simplest walking model by determining the basin of attraction of the Poincare´ map of this model. This shows that the walker, although stable, can only handle very small disturbances. It mostly falls, either forward or backward. We show that it is impossible for any form of swing leg control to solve backward falling. For the problem of forward falling, we devise a simple but very effective rule for swing leg action: "You will never fall forward if you put your swing leg fast enough in front of your stance leg. In order to prevent falling backward the next step, the swing leg shouldn't be too far in front." The effectiveness of this rule is demonstrated with our prototype "Mike.".