Measurement of robustness for biped locomotion using a linearized Poincaré map

M. Y. Cheng, C. S. Lin

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


Many studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, is usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincaré map is suggested and examined. The Poincaré map is a useful tool to investigate the periodic motion of a dynamic system. Using the Poincaré map, one can study an associated discrete time map instead of studying the continuous time system directly. Investigation of stability of a periodic motion can be reduced to the study of the stability of a fixed point of the Poincaré map. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.

Original languageEnglish
Pages (from-to)253-259
Number of pages7
Issue number3
Publication statusPublished - 1996

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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