Delayed feedback control of one-legged passive running robot

With a newly developed algorithm for detecting hybrid periodic orbits, passive running gaits and their orbital stability of a planar one-legged robot are explored. Then, a novel "energy-preserving controller" that produces interesting quasi-periodic orbits is introduced. Based on the recurrence, an additional adaptive controller similar to delayed-feedback control for chaotic system is proposed. The controller achieves stabilization of "unknown" running gaits.