Stabilization mechanism underlying passive dynamic running

Dai Owaki, Koichi Osuka, Akio Ishiguro

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


In this study, we discuss the stabilization mechanism underlying passive dynamic running (PDR), focusing on the feedback structure in an analytical Poincaré map. To this end, we derived a linearized analytical Poincaré map for PDR and analyzed its stability in terms of linear control theory. Through our theoretical analysis, we found that an implicit two-delay feedback structure, which can be seen as a certain type of two-delay input digital feedback control developed as an artificial control structure for digital control, is an inherent stabilization mechanism in PDR appearing from a minimalistic biped model with elastic elements. To the best of our knowledge, this has yet to be addressed and studied. Our results shed new light on the principles underlying bipedal locomotion as morphological computation.'

Original languageEnglish
Pages (from-to)1399-1407
Number of pages9
JournalAdvanced Robotics
Issue number18
Publication statusPublished - 2013 Dec 1


  • Morphological computation
  • Passive dynamic running
  • Two-delay feedback control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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