Hidden Attractor in a Passive Motion Model of Compass-Gait Robot-Reference-Cited by-同舟云学术

Hidden Attractor in a Passive Motion Model of Compass-Gait Robot

Published:2018-12-30 Issue:14 Volume:28 Page:1850171
ISSN:0218-1274
Container-title:International Journal of Bifurcation and Chaos
language:en
Short-container-title:Int. J. Bifurcation Chaos

Author:

Nourian Zavareh Mahdi¹,Nazarimehr Fahimeh²,Rajagopal Karthikeyan³,Jafari Sajad²

Affiliation:

1. Department of Biomedical Engineering, Faculty of Advanced Medical Technology, Isfahan University of Medical Sciences, Isfahan, Iran

2. Biomedical Engineering Department, Amirkabir University of Technology, Tehran 15875-4413, Iran

3. Center for Nonlinear Dynamics, Department of Electrical and Communication Engineering, The PNG University of Technology, Lae, Papua New Guinea

Abstract

Many studies have been done on different aspects of biped robots such as motion, path planning, control and stability. Dynamical properties of biped robot on a sloping surface such as equilibria and their stabilities, bifurcations and basin of attraction are investigated in this paper. Basin of attraction is an important property since it can determine the unseen conditions which affect the attractor of the system with multistabilities. By the help of basin of attractions, the paper claims that the strange attractors of compass-gait robot are hidden.

Publisher

World Scientific Pub Co Pte Lt

Subject

Applied Mathematics,Modeling and Simulation,Engineering (miscellaneous)

Link

https://www.worldscientific.com/doi/pdf/10.1142/S0218127418501717

Reference38 articles.

1. Metastable Walking Machines

2. Efficient Bipedal Robots Based on Passive-Dynamic Walkers

3. Hidden attractors in dynamical systems

4. The Simplest Walking Model: Stability, Complexity, and Scaling

5. A Study of the Passive Gait of a Compass-Like Biped Robot

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