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This study is aimed at stabilizing a three dimensional biped passive walker in various environments and achieving climbing and turning control. The novel control method synchronizes a period of the changing motion of the stance leg in frontal plane (frontal motion) with a period of the swing leg by periodic input in order to stabilize the three dimensional passive walker. A mechanical oscillator is utilized to change the period of the frontal motion. The target path of the oscillator is automatically generated based on frequency entrainment in order to adjust the period of the frontal motion. In the climbing and turning control of the passive walker, the amplitude and the phase generating algorithm of the target path of the oscillator are improved. It is analytically demonstrated that the biped passive walker can be stabilized even in climbing and turning.

Climbing and Turning Control of a Biped Passive Walker by Periodic Input Based on Frequency Entrainment