Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity

DOI10.1098/rspa.2016.0028zbMath1371.70028OpenAlexW2964200944WikidataQ51241476 ScholiaQ51241476MaRDI QIDQ5363585

Ippei Obayashi, Kazuo Tsuchiya, Hiroshi Kokubu, Shinya Aoi

Publication date: 29 September 2017

Published in: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1098/rspa.2016.0028

Mathematics Subject Classification ID

Biomechanics (92C10) Robot dynamics and control of rigid bodies (70E60) Biomechanical solid mechanics (74L15)

Related Items (7)

Numerical estimation of balanced and falling states for constrained legged systems ⋮ 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 ⋮ Common formation mechanism of basin of attraction for bipedal walking models by saddle hyperbolicity and hybrid dynamics ⋮ Existence and stability of limit cycles in the model of a planar passive biped walking down a slope ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation ⋮ Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking

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