Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map

2020 ◽  
Vol 101 (2) ◽  
pp. 1061-1091
Author(s):  
Wafa Znegui ◽  
Hassène Gritli ◽  
Safya Belghith
2013 ◽  
Vol 28 (4) ◽  
pp. 231-244 ◽  
Author(s):  
Behnam Dadashzadeh ◽  
M.J. Mahjoob ◽  
M. Nikkhah Bahrami ◽  
Chris Macnab

1992 ◽  
Vol 02 (01) ◽  
pp. 1-9 ◽  
Author(s):  
YOHANNES KETEMA

This paper is concerned with analyzing Melnikov’s method in terms of the flow generated by a vector field in contrast to the approach based on the Poincare map and giving a physical interpretation of the method. It is shown that the direct implication of a transverse crossing between the stable and unstable manifolds to a saddle point of the Poincare map is the existence of two distinct preserved homoclinic orbits of the continuous time system. The stability of these orbits and their role in the phenomenon of sensitive dependence on initial conditions is discussed and a physical example is given.


2007 ◽  
Vol 17 (03) ◽  
pp. 837-850 ◽  
Author(s):  
SHIGEKI TSUJI ◽  
TETSUSHI UETA ◽  
HIROSHI KAWAKAMI

The Bonhöffer–van der Pol (BVP) oscillator is a simple circuit implementation describing neuronal dynamics. Lately the diffusive coupling structure of neurons attracts much attention since the existence of the gap-junctional coupling has been confirmed in the brain. Such coupling is easily realized by linear resistors for the circuit implementation, however, there are not enough investigations about diffusively coupled BVP oscillators, even a couple of BVP oscillators. We have considered several types of coupling structure between two BVP oscillators, and discussed their dynamical behavior in preceding works. In this paper, we treat a simple structure called current coupling and study their dynamical properties by the bifurcation theory. We investigate various bifurcation phenomena by computing some bifurcation diagrams in two cases, symmetrically and asymmetrically coupled systems. In symmetrically coupled systems, although all internal elements of two oscillators are the same, we obtain in-phase, anti-phase solution and some chaotic attractors. Moreover, we show that two quasi-periodic solutions disappear simultaneously by the homoclinic bifurcation on the Poincaré map, and that a large quasi-periodic solution is generated by the coalescence of these quasi-periodic solutions, but it disappears by the heteroclinic bifurcation on the Poincaré map. In the other case, we confirm the existence a conspicuous chaotic attractor in the laboratory experiments.


1980 ◽  
Vol 47 (3) ◽  
pp. 645-651 ◽  
Author(s):  
L. A. Month ◽  
R. H. Rand

The stability of periodic motions (nonlinear normal modes) in a nonlinear two-degree-of-freedom Hamiltonian system is studied by deriving an approximation for the Poincare´ map via the Birkhoff-Gustavson canonical transofrmation. This method is presented as an alternative to the usual linearized stability analysis based on Floquet theory. An example is given for which the Floquet theory approach fails to predict stability but for which the Poincare´ map approach succeeds.


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