Further Analysis of the Passive Dynamics of the Compass Biped Walker and Control of Chaos via Two Trajectory Tracking Approaches

This work consists in analyzing and controlling the walk of compass-type bipedal walker order to stabilize its passive dynamic gait. The walking compass-gait is modeled by an impulsive hybrid nonlinear system. nature considered very complex as it can generate unwanted phenomena such chaos bifurcations. We show first means bifurcation diagrams varying slope angle surface also length lower leg segment that exhibits successive period-doubling bifurcations leading chaos. Furthermore, control hence obtain one-periodic behavior, we propose two approaches based on tracking a desired trajectory. method generated compass model itself. second lies following planned trajectory using 4th-order Spline function. An optimization achieved design parameters Some features period-1 gait are used Finally, some simulation results revealing efficiency proposed methods chaotic walker. Moreover, demonstrate stabilization locomotion biped different slopes: descending ascending inclined planes level ground. A comparison with OGY-based performed further superiority these approaches.