Stability analysis of passive-dynamic-walking focusing on the inner structure of Poincare map

The purpose of this paper is to analyze the stability of passive dynamic walking using an approximate analytical Poincare map of the impact point, which is the state of walking robot at the collision between a swing leg and ground. Especially, in this paper, we focus on the feedback structure in equations which are used to get the Poincare map, and consider the relationship between stability of passive-dynamic-walking and the feedback structure. In this process, we derive a control method of quasi passive-dynamic-walking which utilizes the inner structure of Poincare map and confirm the effectiveness of the control method via several simulations