Occurrence of Complex Behaviors in the Uncontrolled Passive Compass Biped Model

It is widely known that an appropriately built unpowered bipedal robot can walk down inclined surface with a passive steady gait. The features of such gait are determined by the robot's geometry and inertial properties, as well slope angle. energy needed to keep biped moving steadily comes from gravitational potential it descends surface. study natural motions could lead ideas for managing active walking devices better understanding human locomotion. major goal this further investigate order, chaos bifurcations then demonstrate complexity compass-gait examining different bifurcation diagrams also studying variation eigenvalues Poincaré map's Jacobian matrix Lyapunov exponents. We reveal exhibition some additional results changing geometrical parameters model.