Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
From MaRDI portal
Publication:2122416
DOI10.1016/J.CHAOS.2019.109436zbMath1489.70002OpenAlexW2974341933MaRDI QIDQ2122416
Wafa Znegui, Hassène Gritli, Safya Belghith
Publication date: 6 April 2022
Published in: Chaos, Solitons and Fractals (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.chaos.2019.109436
Poincaré mapJacobian matrixhybrid limit cyclecompass-gait biped modelimpulsive hybrid nonlinear dynamicscomparison and similarity
Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)
Related Items (12)
Erratum to: ``Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model ⋮ Finite-Time Stabilization of the Fractional Model of the Driven Dissipative Nonlinear Pendulum ⋮ Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Chaotic behaviour and bifurcation in real dynamics of two-parameter family of functions including logarithmic map ⋮ Walking dynamics for an ascending stair biped robot with telescopic legs and impulse thrust ⋮ A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot ⋮ Reachability analysis of a class of hybrid gene regulatory networks ⋮ Neimark-Sacker bifurcation and controlling chaos in a three-species food chain model through the OGY method ⋮ Discrete-time predator-prey model with flip bifurcation and chaos control ⋮ A further analysis of the passive compass-gait bipedal robot and its period-doubling route to chaos ⋮ Limit cycle analysis of a class of hybrid gene regulatory networks
Cites Work
- Unnamed Item
- Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints
- Chaos control in passive walking dynamics of a compass-gait model
- Models, feedback control, and open problems of 3D bipedal robotic walking
- OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot
- Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map
- Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation
- Ballistic walking: an improved model
- An upper-body can improve the stability and efficiency of passive dynamic walking
- New walking dynamics in the simplest passive bipedal walking model
- Passive Walker that can walk down steps: simulations and experiments
- Walking dynamics of the passive compass-gait model under OGY-based control: emergence of bifurcations and chaos
- Poincaré maps design for the stabilization of limit cycles in non-autonomous nonlinear systems via time-piecewise-constant feedback controllers with application to the chaotic Duffing oscillator
- Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: birth of a torus bifurcation
- Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map
- New bifurcations in the simplest passive walking model
- Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking
- Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map
- Asymptotically stable walking for biped robots: analysis via systems with impulse effects
- Orthonormal Expansion $\ell_{1}$-Minimization Algorithms for Compressed Sensing
- Bifurcation and chaos in the simple passive dynamic walking model with upper body
- Hidden Attractor in a Passive Motion Model of Compass-Gait Robot
- Analyzing Bifurcation, Stability and Chaos for a Passive Walking Biped Model with a Sole Foot
- CYCLIC-FOLD BIFURCATION AND BOUNDARY CRISIS IN DYNAMIC WALKING OF BIPED ROBOTS
- Transverse Linearization for Impulsive Mechanical Systems With One Passive Link
This page was built for publication: Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
