The analysis and control method about the stop motion of Symmetric Planar Rimless Wheel on slope

Symmetric Planar Rimless Wheel (SPRW) is an important reference model of passive biped walking. Most of the researches on SPRW emphasis on the global characteristics but are lack of the detailed motion process. In this paper, the process of the stop motion of SPRW on slope and the relation between different kinds of motion form with SPRW´s instinct characteristics are discussed. Furthermore, an approximate calculation method about the basin of attractions to different kinds of motion form is proposed. Finally, a control method about the stop motion of SPRW on slope is developed which is helpful to control complex Planar Rimless Wheel when it walks in the unknown environment.