CYCLIC-FOLD BIFURCATION AND BOUNDARY CRISIS IN DYNAMIC WALKING OF BIPED ROBOTS

DOI10.1142/S0218127412502574zbMath1258.70006OpenAlexW1996450480MaRDI QIDQ4907068

Nahla Khraief, Safya Belghith, Hassène Gritli

Publication date: 1 March 2013

Published in: International Journal of Bifurcation and Chaos (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1142/s0218127412502574

zbMATH Keywords

chaosboundary crisisbiped robotscyclic-fold bifurcationstability of bifurcation

Mathematics Subject Classification ID

Bifurcations and instability for nonlinear problems in mechanics (70K50) Transition to stochasticity (chaotic behavior) for nonlinear problems in mechanics (70K55) Kinematics of mechanisms and robots (70B15)

Related Items (6)

Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ 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 control: emergence of bifurcations and chaos ⋮ Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: birth of a torus bifurcation

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