An Explicit Analytical Expression of the Poincaré Map for Analyzing Passive Dynamic Walking of the Compass-Gait Biped Model

2019 ◽  
Author(s):  
Wafa Znegui ◽  
Hassene Gritli ◽  
Safya Belghith
Keyword(s):  
Poincaré Map ◽  
Poincare Map ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Analytical Expression ◽  
Explicit Analytical Expression

Hierarchical Implicit Feedback Structure in Passive Dynamic Walking

2008 ◽  
Vol 20 (4) ◽  
pp. 559-566 ◽  
Author(s):  
Yasuhiro Sugimoto ◽  
◽  
Koichi Osuka
Keyword(s):  
Poincaré Map ◽  
Implicit Feedback ◽  
Poincare Map ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Bifurcation Phenomenon ◽  
Feedback Structure ◽  
The Stability ◽  
Interesting Structure

Using a linearized analytical Poincaré map, we analyzed the stability of Passive Dynamic Walking (PDW), focusing on bifurcation phenomenon in PDW. Although it is well-known, bifurcation of the walking period has not been well studied. Based on our previous research, we derive an analytical Poincaré map for 2-period walking to discuss PDW stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincaré map.

Estimation of the Stable Fixed Point of Passive Dynamic Walking with BP Neural Network

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 478-483 ◽  
Author(s):  
Xiuhua NI ◽  
Weishan CHEN ◽  
Junkao LIU ◽  
Shengjun SHI
Keyword(s):  
Neural Network ◽  
Fixed Point ◽  
Bp Neural Network ◽  
Stable Fixed Point ◽  
Dynamic Walking ◽  
Passive Dynamic Walking
Sign in / Sign up

Export Citation Format

Share Document