Chaotic gait suppression of biped passive walking robot based on slope angle identification

摘要

Passive walking model can make full use of the potential energy, which made it more efficient and more natural. So that it has become a hot spot in the current research. However, the condition of passive walking robot is heavily affected by its own structure and the external environment parameter, especially the slope angle which may result in a chaotic gait. In this paper, a control method capable of realizing stable passive walking on various slopes is introduced. In this way, we turned the chaotic gait into a limit cycle gait, then identified the slope angle of the chaotic gait. As a result, the suppression of chaotic gait is achieved. This method is suitable for slope of different angles. In the end of this paper, this method proved to be feasible and capable for slope of different angles.