NDLI: The analysis on bifurcation and chaos in the compass-gait biped

Content Provider	IEEE Xplore Digital Library
Author	Zhenze Liu Yantao Tian Peijie Zhang Changjiu Zhou
Copyright Year	2007
Description	Author affiliation: Coll. of Commun. Eng., Jilin Univ., Changchun (Zhenze Liu; Yantao Tian; Peijie Zhang)
Abstract	The paper focuses on the analysis of the behavior of symmetric and asymmetric passive gaits using a simple nonlinear gait biped model and also continues the investigation into the stability property of the compass gait biped. Three parameters, namely the ground slope angle, and the mass ratio and length ratio of the robot are used here to observe the target gait property to improve the robot performance as well as generating new gaits. In response to a continuous change in any one of these three parameters, the symmetric and steady gait of the passive robot will gradually evolve through a regime of stable gait, period-doubling bifurcation, and eventually arriving at an apparently chaotic gait. The note of orbital stability is used to study the stability of passive gaits, and Eigen-values of the linearized poincare map are solved to describe the stability property of biped locomotion. Some symmetry properties of the passive gait biped are discussed, to find the degree of asymmetric between two leg's motions. Period-doubling bifurcation of passive gaits and chaotic gaits is studied by poincare maps of passive gaits. The results of the paper are helpful to the investigation of the features and control strategy design of biped locomotion.
Starting Page	972
Ending Page	977
File Size	187307
Page Count	6
File Format	PDF
ISBN	9781424417612
DOI	10.1109/ROBIO.2007.4522295
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bifurcation Chaos Legged locomotion Robots Leg Chaotic communication Stability Limit-cycles Hip Biomimetics bifurcation Compass-like biped symmetric chaotic
Content Type	Text
Resource Type	Article

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