An Application of Delayed Feedback Control to Parametric Excitation Walking

This paper proposes a new applying method of delayed feedback control (DFC) which can suppress the period-doubling bifurcation in parametric excitation walking. Parametric excitation walking for a kneed biped robot was realized by controlling knee angle of the robot with knee joint torque. When the energy input increased, parametric excitation walking exhibited period-doubling bifurcation and period-two walking emerged. In this study, based on DFC we redesigned the knee joint torque, which suppresses the period-doubling bifurcation, and makes period-two walking converge to period-one walking. Numerical simulations showed that the resulting period-one walking with DFC was more efficient than the period-two walking. Regions of attraction for period-one parametric excitation walking were calculated and it was shown that the proposed method can improve the stability of parametric excitation walking.

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