Bifurcation and chaos in the simple passive dynamic walking model with upper body

Journal Article · Mon Sep 01 00:00:00 EDT 2014 · Chaos (Woodbury, N. Y.)

DOI:https://doi.org/10.1063/1.4890834· OSTI ID:22351015

Li, Qingdu; Guo, Jianli ^[1]; Yang, Xiao-Song ^[2]

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1. Key Laboratory of Industrial Internet of Things and Networked Control, Ministry of Education, Chongqing University of Posts and Telecommunications, Chongqing 400065 (China)
2. Department of Mathematics, Huazhong University of Science and Technology, Wuhan 430074 (China)

We present some rich new complex gaits in the simple walking model with upper body by Wisse et al. in [Robotica 22, 681 (2004)]. We first show that the stable gait found by Wisse et al. may become chaotic via period-doubling bifurcations. Such period-doubling routes to chaos exist for all parameters, such as foot mass, upper body mass, body length, hip spring stiffness, and slope angle. Then, we report three new gaits with period 3, 4, and 6; for each gait, there is also a period-doubling route to chaos. Finally, we show a practical method for finding a topological horseshoe in 3D Poincaré map, and present a rigorous verification of chaos from these gaits.

• OSTI ID: 22351015
• Journal Information: Chaos (Woodbury, N. Y.), Vol. 24, Issue 3; Other Information: (c) 2014 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA); ISSN 1054-1500
• Country of Publication: United States
• Language: English

Related Subjects

71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
BIFURCATION
CHAOS THEORY
FLEXIBILITY
LENGTH
MAPS
MASS
TOPOLOGY
VERIFICATION