Being different from uncontrolled and unpowered biped, an underactuated compass-gait bipedal robot is the one actuated at the ankle. Energy is inputted to control the gait of biped. Based on kinetic energy shaping, controlling and anti-controlling of chaotic gait are investigated in this paper. In order to provide energy at proper instant, the energy shaping function is modified as ksinθ1+θ0θ.12. This modification permits of taking the characteristic of gait of the biped into consideration by taking the best initial phase as initial phase, i.e. θ0=θ0*. The results of simulation show that the control scheme ksinθ1+θ0θ.12 is efficient in controlling and anti-controlling chaotic gait.

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