Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction

2020 ◽  
Author(s):  
Kota Okamoto ◽  
Shinya Aoi ◽  
Ippei Obayashi ◽  
Hiroshi Kokubu ◽  
Kei Senda ◽  
...  
Keyword(s):  
Chaotic Attractor ◽  
Basin Of Attraction ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Bending Deformation ◽  
Stretch Bending

Hip Actuations Can be Used to Control Bifurcations and Chaos in a Passive Dynamic Walking Model

2006 ◽  
Vol 129 (2) ◽  
pp. 216-222 ◽  
Author(s):  
Max J. Kurz ◽  
Nicholas Stergiou
Keyword(s):  
Hip Joint ◽  
Chaotic Attractor ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Control Scheme ◽  
Rapid Transition

We explored how hip joint actuation can be used to control locomotive bifurcations and chaos in a passive dynamic walking model that negotiated a slightly sloped surface (γ<0.019rad). With no hip actuation, our passive dynamic walking model was capable of producing a chaotic locomotive pattern when the ramp angle was 0.01839rad<γ<0.0190rad. Systematic alterations in hip actuation resulted in rapid transition to any locomotive pattern available in the chaotic attractor and induced stability at ramp angles that were previously considered unstable. Our results detail how chaos can be used as a control scheme for locomotion.

scholarly journals Fractal mechanism of basin of attraction in passive dynamic walking

2020 ◽  
Vol 15 (5) ◽  
pp. 055002 ◽  
Author(s):  
Kota Okamoto ◽  
Shinya Aoi ◽  
Ippei Obayashi ◽  
Hiroshi Kokubu ◽  
Kei Senda ◽  
...  
Keyword(s):  
Basin Of Attraction ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

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

2016 ◽  
Vol 472 (2190) ◽  
pp. 20160028 ◽  
Author(s):  
Ippei Obayashi ◽  
Shinya Aoi ◽  
Kazuo Tsuchiya ◽  
Hiroshi Kokubu
Keyword(s):  
Basin Of Attraction ◽  
Underlying Mechanism ◽  
The Body ◽  
Bipedal Walking ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Saddle Type ◽  
The Stability ◽  
Stable Passive ◽  
The Basin Of Attraction

Passive dynamic walking is a useful model for investigating the mechanical functions of the body that produce energy-efficient walking. The basin of attraction is very small and thin, and it has a fractal-like shape; this explains the difficulty in producing stable passive dynamic walking. The underlying mechanism that produces these geometric characteristics was not known. In this paper, we consider this from the viewpoint of dynamical systems theory, and we use the simplest walking model to clarify the mechanism that forms the basin of attraction for passive dynamic walking. We show that the intrinsic saddle-type hyperbolicity of the upright equilibrium point in the governing dynamics plays an important role in the geometrical characteristics of the basin of attraction; this contributes to our understanding of the stability mechanism of bipedal walking.

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

A passive dynamic walking model with Coulomb friction at the hip joint

Robotica ◽  
2013 ◽  
Vol 31 (8) ◽  
pp. 1221-1227 ◽  
Author(s):  
Wenhao Guo ◽  
Tianshu Wang ◽  
Qi Wang
Keyword(s):  
Hip Joint ◽  
Coulomb Friction ◽  
Basins Of Attraction ◽  
Swing Phase ◽  
Dynamic Equations ◽  
Two Dimensional ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Impact Phase ◽  
The Impact

SUMMARYThis paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts – the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.

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