https://doi.org/10.1140/epjs/s11734-022-00471-3
Regular Article
Trajectory tracking-based control of the chaotic behavior in the passive bipedal compass-type robot
1
Laboratory of Robotics, Informatics and Complex Systems (RISC-Lab, LR16ES07), National Engineering School of Tunis, Université de Tunis El Manar, BP. 37, Le Belvédère, 1002, Tunis, Tunisia
2
Higher Institute of Information and Communication Technologies, Université de Carthage, 1164, Borj-Cedria, Tunis, Tunisia
Received:
1
July
2021
Accepted:
3
February
2022
Published online:
9
February
2022
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 robot is modeled by an impulsive hybrid nonlinear system. We first show, using bifurcation diagrams, that the passive gait of the bipedal compass robot can exhibit surprising behaviors such as chaos and bifurcations. This complex nature of the walk of this type of bipedal robot requires a search for a 1-periodic walk, to better imitate human walking more faithfully, using the Poincaré map. Thus, to suppress these complex nonlinear behaviors, we control the bipedal compass-type robot to obtain a one-periodic gait by adopting two methods. The first control method is based on the passive dynamic walking of the biped robot, and then the objective is to track during the swing phase the period-1 passive trajectory. In contrast, the second control method is based on following a trajectory designed using a 4th-order Bézier function. Several simulation results are presented showing that the first control method, compared to the second one, provides an energy efficiency.
© The Author(s), under exclusive licence to EDP Sciences, Springer-Verlag GmbH Germany, part of Springer Nature 2022
