International Journal of Robotics Research
Control Approach for Legged Robots with Fast Gaits
Journal of Intelligent and Robotic Systems
A Simplified Stability Study for a Biped Walk with Underactuated and Overactuated Phases
International Journal of Robotics Research
Optimal Mass Distribution for Passivity-Based Bipedal Robots
International Journal of Robotics Research
Optimal trajectory generation of compass-gait biped based on passive dynamic walking
AIAP'07 Proceedings of the 25th conference on Proceedings of the 25th IASTED International Multi-Conference: artificial intelligence and applications
Controlling the Walking Speed in Limit Cycle Walking
International Journal of Robotics Research
Gait Analysis of the Passive Dynamic Walker with Knees
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Using Toe-Off Impulse to Control Chaos in the Simplest Walking Model via Artificial Neural Network
ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
Dynamic Simulation of Passive Walker Based on Virtual Gravity Theory
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Impact dynamics based control of compass gait biped
ACC'09 Proceedings of the 2009 conference on American Control Conference
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A passive 2-DOF walker: hunting for gaits using virtual holonomic constraints
IEEE Transactions on Robotics
Efficient parametric excitation walking with delayed feedback control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Optimal trajectory design for parametric excitation walking
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The instantaneous leg extension model of virtual slope walking
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Efficiency analysis of 2-period dynamic bipdal gaits
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Experimental verification of 3D bipedal walking based on passive dynamic autonomous control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Minimalistic control of biped walking in rough terrain
Autonomous Robots
Analysis of a biped powered walking model based on potential energy compensation
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Robust motion control of Biped walking robots
WSEAS Transactions on Systems and Control
Stable dynamic walking over uneven terrain
International Journal of Robotics Research
On the stability of bipedal walking
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Optimal gaits for compass-like biped robot
ICS'06 Proceedings of the 10th WSEAS international conference on Systems
Gait generation and control for biped robots with underactuation degree one
Automatica (Journal of IFAC)
Control of an ostrich-like knee joint for a biped robot based on passive dynamic walking
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Control of a passive-dynamic-walking-based biped model with semicircular feet for a small stair step
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
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It is well-known that a suitably designed unpowered mechanical bipedrobot can “walk” down an inclined plane with a steady periodicgait. The energy required to maintain the motion comes from theconversion of the biped‘s gravitational potential energy as itdescends. Investigation of such passive natural motions maypotentially lead us to strategies useful for controlling activewalking machines as well as to understand human locomotion.In this paper we demonstrate the existence and the stability ofsymmetric and asymmetric passive gaits using a simple nonlinear bipedmodel. Kinematically the robot is identical to a double pendulum(similar to the Acrobot and the Pendubot) and is able to walk withthe so-called compass gait. Using the passivebehavior as a reference we also investigate the performance ofseveral active control schemes. Active control can enlarge the basinof attraction of passive limit cycles and can create new gaits.