Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction
Kota Okamoto,Shinya Aoi,Ippei Obayashi,Hiroshi Kokubu,Kei Senda,Kazuo Tsuchiya,Kota Okamoto,Shinya Aoi,Ippei Obayashi,Hiroshi Kokubu,Kei Senda,Kazuo Tsuchiya
Passive dynamic walking is a model that walks down a shallow slope without any control or input. This model has been widely used to investigate how stable walking is generated from a dynamic viewpoint, which is useful to provide design principles for developing energy-efficient biped robots. However, the basin of attraction is very small and thin, and it has a fractal-like complicated shape. This ...
