INTERMITTENCY AND INTERIOR CRISIS AS ROUTE TO CHAOS IN DYNAMIC WALKING OF TWO BIPED ROBOTS

DOI10.1142/S0218127412500563zbMath1270.70004MaRDI QIDQ2843547

Nahla Khraeif, Hassène Gritli, Safya Belghith

Publication date: 23 August 2013

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

Full work available at URL: https://doi.org/10.1142/s0218127412500563

zbMATH Keywords

Lyapunov exponents; intermittency; biped robots; interior crisis; period-doubling to chaos

Mathematics Subject Classification ID

70K55: Transition to stochasticity (chaotic behavior) for nonlinear problems in mechanics

70B15: Kinematics of mechanisms and robots

70E60: Robot dynamics and control of rigid bodies

Related Items

Hidden Attractor in a Passive Motion Model of Compass-Gait Robot, Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map, 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 control: emergence of bifurcations and chaos, A further analysis of the passive compass-gait bipedal robot and its period-doubling route to chaos, 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, Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map

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