ImpulsiveControlofthePassivecompass-likebipedRobotBasedonAnti-phaseSynchronization,刘振泽,田彦涛,Thepaperfocusesontheanalysisofthestabilityofsymmetricandasymmetricpassivegaitsusingasimplenonlinearbipedmodelbasedontheanti-phasesynchronizationcontrolst