Active sliding synthetic wheel biped

The active sliding synthetic wheel biped proposed in this paper is a modification of the active synthetic wheel biped (SWB) developed previously. The SWB rolls on its arc-shaped feet and steps to transition between feet which results in walking. In this paper, we allow the SWB to slide while walking which provides an additional mode of locomotion. Partial feedback linearization is used to track desired trajectories during each step and chaos control is used to stabilize the biped's motion over multiple steps to a desirable periodic gait. Numerical simulations are used to determine the configurations in which the biped will step and to validate the efficacy of the hybrid control method. It is shown that the biped is capable of starting from rest and stabilizing to a periodic gait that involves sliding while walking.