The compass-gait biped robot is a two-DoF legged mechanical system that has been known
by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive …

During the past decades, the walking dynamics of different types of passive biped robots
have garnered significant attention. This paper investigates the complex dynamics of a …

This paper deals mainly with the control of the complex and rhythmic behaviors of the
passive dynamic walk of the bipedal compass-type robot. The walking gait of such biped …

Passive dynamic walking of bipeds exhibits a new concept of robot locomotion that is well-
known for its success in human mimicry. Many efforts have been devoted in the literature to …

This work consists in analyzing and controlling the walk of the compass‐type bipedal walker
in order to stabilize its passive dynamic gait. The dynamic walking of the compass‐gait …

For the passive walking robot, the basin of attraction is very small and thin, and thus makes it
a great challenge to produce stable passive dynamic walking. This paper reports …

It is widely known that an appropriately built unpowered bipedal robot can walk down an
inclined surface with a passive steady gait. The features of such gait are determined by the …

Passive dynamic walking biped robots utilize the inherent dynamics of their structure to
achieve walking motion without continuous actuation, enhancing energy efficiency and …

The compass-type bipedal robot is an impulsive hybrid mechanical system that can produce
complex behaviors, chaos and bifurcations. In this work, we analyze the passive dynamic …

In this article, a biped robot walking on horizontal ground with two feasible switching
patterns of motion (two-phase gait and three-phase gait) is presented. By using the first …