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Application Kinetic Energy Shaping to Controlling and Anticontrolling Chaotic Gait of Underactuated Compass-Gait Bipedal Robot

[+] Author Affiliations
Jin Xie, Wei Wei, Zhaohui Liu

Southwest Jiaotong University, Chengdu, China

Bowen Sun

Xi'an High-Speed Railway Depot, Xi'an, China

Paper No. DETC2017-67754, pp. V05AT08A030; 8 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 41st Mechanisms and Robotics Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5817-2
  • Copyright © 2017 by ASME


Being different from uncontrolled and unpowered biped, an underactuated compass-gait bipedal robot is the one actuated at the ankle. Energy is inputted to control the gait of biped. Based on kinetic energy shaping, controlling and anti-controlling of chaotic gait are investigated in this paper. In order to provide energy at proper instant, the energy shaping function is modified as Display Formulaksinθ1+θ0θ.12. This modification permits of taking the characteristic of gait of the biped into consideration by taking the best initial phase as initial phase, i.e. Display Formulaθ0=θ0*. The results of simulation show that the control scheme Display Formulaksinθ1+θ0θ.12 is efficient in controlling and anti-controlling chaotic gait.

Copyright © 2017 by ASME



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