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ISSN: 2475-4811 (print)
ISSN: 2475-482X (online)
Journal of Vibration Testing and System Dynamics

C. Steve Suh (editor), Pawel Olejnik (editor),

Xianguo Tuo (editor)

Pawel Olejnik (editor)

Lodz University of Technology, Poland

Email: pawel.olejnik@p.lodz.pl

C. Steve Suh (editor)

Texas A&M University, USA

Email: ssuh@tamu.edu

Xiangguo Tuo (editor)

Sichuan University of Science and Engineering, China

Email: tuoxianguo@suse.edu.cn

Analysis and Control of the Chaotic Behavior of the Compass-Type Bipedal Walker: Comparison between two Controllers

Journal of Vibration Testing and System Dynamics 8(3) (2024) 355-377 | DOI:10.5890/JVTSD.2024.09.007

Essia Added$^{1,2}$, Hassène Gritli$^{1,2}$, Safya Belghith$^{1}$

$^{1}$ Laboratory of Robotics, Informatics and Complex Systems (RISC Lab - LR16ES07), National Engineering School of Tunis, University of Tunis El Manar, BP. 37, Le Belvédère, 1002, Tunis, Tunisia

$^{2}$ Higher Institute of Information and Communication Technologies, University of Carthage, 1164 Borj Cedria, Tunis, Tunisia

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Abstract

The goal of this work is to control the chaotic behavior of the passive dynamic gait of the bipedal compass walker.~An impulsive hybrid nonlinear system models the dynamic gait of the compass walker. This impulsive hybrid nature is regarded as being exceedingly complex since it has the potential to produce undesirable phenomena like chaos and bifurcations.~We first demonstrate that the passive dynamic gait exhibits multiple period-doubling bifurcations that result in chaos, while altering the slope angle of the walking surface and the length of the lower leg segment.~After that, in order to control chaos and achieve a one-periodic walking behavior, two controllers (a PD plus gravity compensation and an improved PD plus gravity compensation) are employed and a comparison between them is achieved. Finally, we present some simulation results demonstrating the effectiveness of the two suggested control strategies in stabilizing the chaotic passive gait of the compass-like bipedal walker.

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