Natural gait analysis for a biped robot: jogging vs. walking

  • Uzair Khan
  • Zhiyong ChenEmail author



This work was partially supported by National Natural Science Foundation of China (Grant No. 51729501).

Supplementary material

11432_2018_9756_MOESM1_ESM.pdf (209 kb)
Natural gait analysis for a biped robot: jogging vs walking


  1. 1.
    Matsuoka K. Mechanisms of frequency and pattern control in the neural rhythm generators. Biol Cybern, 1987, 56: 345–353CrossRefGoogle Scholar
  2. 2.
    McGeer T. Passive dynamic walking. Int J Robot Res, 1990, 9: 62–82CrossRefGoogle Scholar
  3. 3.
    Goswami A, Espiau B, Keramane A. Limit cycles in a passive compass gait biped and passivity-mimicking control laws. Auton Robots, 1997, 4: 273–286CrossRefGoogle Scholar
  4. 4.
    Chen Z, Iwasaki T, Zhu L. Feedback control for natural oscillations of locomotion systems under continuous interactions with environment. IEEE Trans Contr Syst Technol, 2015, 23: 1294–1306CrossRefGoogle Scholar
  5. 5.
    Khan U I, Chen Z. Natural oscillation in compass-gait biped robots. In: Proceedings of 2016 Australian Control Conference, 2016. 13Google Scholar
  6. 6.
    Koop D, Wu C Q. Passive dynamic biped walking-part I: development and validation of an advanced model. J Comput Nonlin Dynam, 2013, 8: 041007CrossRefGoogle Scholar
  7. 7.
    Khan U I, Chen Z. Natural oscillation gait in humanoid biped locomotion. IEEE Trans Control Syst Tech, 2018Google Scholar

Copyright information

© Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Electrical Engineering and ComputingUniversity of NewcastleCallaghanAustralia

Personalised recommendations