Chaos Dynamics of Biped Passive Walking and the Evaluation by an Actual Robot

摘要

Passive walking is generated by the dynamic interaction of gravity and ground on slope and the walking doesn't need active control or energy input. Moreover, it is known that chaotic behavior appears when the slope angle exceeds a certain value. In this research, we make use of this chaos dynamics of passive walking, and attempt not only on slope but also on a level ground and uphill by OGY method. In the simulation, the walking in such environment is succeeded. Moreover, we evaluate the OGY method through experiments of an actual robot. At last, we success walking with the control in real environment.