Analysis and stabilization ofthepassivewalkingrobot viaanalogywiththePhaseLockedLoopcircuits

Recently manywalking robots aredeveloped, and almostalltheresearches adoptthemodel-based control. Howevertheresearches alsoadoptotherideasbasedonthe dynamics-based control todecrease their energy consumption or toabsorbtheimpactshockofcontacting ...etc. Soitseems important andvaluable fortheconventional walkingrobot control toimport theideas basedonthedynamics. Ontheother hand,wefocus thepassive dynamic walking robots whichwalk onlybythedynamics. Iftheprinciple oftherobotsystemis analyzed andelucidated, weareabletoapplytheessence ofthe systemtotheconventional walking robotcontrol, andalso contribute theperformance gain. Inthis paperweanalyze the behavior ofthepassive dynamicwalking robotsystemvia analogy between thePhaseLockedLoopcircuit andthepassive walking robotsystem, andwe ascertain thatbothofthem bifurcate andshowchaotic behavior onthesamecondition. Then wepropose themethodtostabilize thebifurcated gait. IndexTerms-Passive dynamic walking robot, PhaseLocked Loopcircuit, chaotic behavior, stabilization