INTERMITTENCY AND INTERIOR CRISIS AS ROUTE TO CHAOS IN DYNAMIC WALKING OF TWO BIPED ROBOTS

DOI10.1142/S0218127412500563zbMath1270.70004OpenAlexW1996352528MaRDI QIDQ2843547

Nahla Khraeif, Hassène Gritli, Safya Belghith

Publication date: 23 August 2013

Published in: International Journal of Bifurcation and Chaos (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1142/s0218127412500563

zbMATH Keywords

Lyapunov exponentsintermittencybiped robotsinterior crisisperiod-doubling to chaos

Mathematics Subject Classification ID

Transition to stochasticity (chaotic behavior) for nonlinear problems in mechanics (70K55) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (9)

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 ⋮ Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map ⋮ OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot ⋮ 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 ⋮ Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: birth of a torus bifurcation ⋮ A further analysis of the passive compass-gait bipedal robot and its period-doubling route to chaos

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• ALFVÉN INTERIOR CRISIS
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