Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: birth of a torus bifurcation

DOI10.1016/j.apm.2015.09.066zbMath1452.70006OpenAlexW2196194799MaRDI QIDQ2289300

Safya Belghith, Hassène Gritli

Publication date: 28 January 2020

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2015.09.066

zbMATH Keywords

chaostorus bifurcationOGY-based controlsemi-passive dynamic walkingconstrained Poincaré mapdiscontinuous period-doubling bifurcation

Mathematics Subject Classification ID

Bifurcation theory for ordinary differential equations (34C23) Bifurcations and instability for nonlinear problems in mechanics (70K50) Biomechanics (92C10) Robot dynamics and control of rigid bodies (70E60)

Related Items (10)

Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Hidden Attractor in a Passive Motion Model of Compass-Gait Robot ⋮ Poincaré maps design for the stabilization of limit cycles in non-autonomous nonlinear systems via time-piecewise-constant feedback controllers with application to the chaotic Duffing oscillator ⋮ Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map ⋮ Walking dynamics of the passive compass-gait model under OGY-based control: emergence of bifurcations and chaos ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation ⋮ Degenerate grazing bifurcations in a three-degree-of-freedom impact oscillator ⋮ Painlevé paradox and dynamic self-locking during passive walking of bipedal robot

Cites Work

• Chaos control in passive walking dynamics of a compass-gait model
• OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot
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• Control of chaos: methods and applications. I: Methods
• New walking dynamics in the simplest passive bipedal walking model
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• Practical bifurcation and stability analysis
• New bifurcations in the simplest passive walking model
• INTERMITTENCY AND INTERIOR CRISIS AS ROUTE TO CHAOS IN DYNAMIC WALKING OF TWO BIPED ROBOTS
• Bifurcation and chaos in the simple passive dynamic walking model with upper body
• CYCLIC-FOLD BIFURCATION AND BOUNDARY CRISIS IN DYNAMIC WALKING OF BIPED ROBOTS
• Elements of applied bifurcation theory
• Bifurcations in nonlinear discontinuous systems

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