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The gait stability of Passive Dynamic Walking is sensitive to the initial walking state, which must be adjusted precisely for continuous gaits. A novel torque shaping control method is proposed to obtain the initial stable gait for the passive dynamic walker within a gait period in this paper. Meantime, the stability of the system with this controller is proved. Therefore, the unstable initial state...
We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip...
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