Powered walking based on the passive dynamic principles: A virtual slope walking approach

Z. Li, K. Deng, M. Zhao

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The presented work is motivated to implement the principles of passive dynamic walking (PDW) on the powered bipeds. The Virtual Slope Walking (VSW), as one PWD control approach, is chosen to be mathematically analyzed and realized to achieve fast dynamic walking. Our method of formulating the fixed point of the limit cycle gait is presented, and the walking pattern generation is designed in the polar coordinate for the better consistency with the model. The algorithms are implemented on a planar robot Stepper-2D, which achieved the walking speed from 0.69m/s up to 1.03m/s. The self-stabilized walking has the best robustness at the speed of 0.81m/s, where the robot was able to walk on the level ground, step over random obstacles smaller than 4% of the leg length, and step over a big obstacle of 7.2% of the leg length.
Original languageEnglish
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Print)978-1-4799-7174-9
Publication statusPublished - 1 Nov 2014


  • legged locomotion
  • limit cycles
  • stability
  • PDW
  • PWD control approach
  • Stepper-2D planar robot
  • VSW
  • limit cycle gait
  • passive dynamic walking
  • powered bipeds
  • powered walking
  • self-stabilized walking
  • virtual slope walking approach
  • walking pattern generation
  • Hip
  • Joints
  • Kinetic energy
  • Knee
  • Legged locomotion
  • Limit-cycles


Dive into the research topics of 'Powered walking based on the passive dynamic principles: A virtual slope walking approach'. Together they form a unique fingerprint.

Cite this