Common formation mechanism of basin of attraction for bipedal walking models by saddle hyperbolicity and hybrid dynamics

DOI10.1007/S13160-015-0181-9zbMATH Open1358.37125arXiv1407.5720OpenAlexW840498536WikidataQ59404143 ScholiaQ59404143MaRDI QIDQ495865FDOQ495865

Authors: Ippei Obayashi, Shinya Aoi, Kazuo Tsuchiya, Hiroshi Kokubu 

Publication date: 15 September 2015

Published in: Japan Journal of Industrial and Applied Mathematics (Search for Journal in Brave)

Abstract: Passive dynamic walking is a useful model for investigating the mechanical functions of the body that produce energy-efficient walking. The basin of attraction is very small and thin, and it has a fractal-like shape; this explains the difficulty in producing stable passive dynamic walking. The underlying mechanism that produces these geometric characteristics was not known. In this paper, we consider this from the viewpoint of dynamical systems theory, and we use the simplest walking model to clarify the mechanism that forms the basin of attraction for passive dynamic walking. We show that the intrinsic saddle-type hyperbolicity of the upright equilibrium point in the governing dynamics plays an important role in the geometrical characteristics of the basin of attraction; this contributes to our understanding of the stability mechanism of bipedal walking.

Full work available at URL: https://arxiv.org/abs/1407.5720

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zbMATH Keywords

dynamical systemhybrid systemhyperbolicitybasin of attractionbipedal walking

Mathematics Subject Classification ID

Dynamical systems in biology (37N25) Biomechanics (92C10) Hybrid systems of functional-differential equations (34K34)

Cites Work

• Title not available (Why is that?)
• Ballistic walking: an improved model
• Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment

Cited In (9)

• Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking
• 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
• On the determination of the basin of attraction for stationary and periodic movements
• Kinematic analysis of flexible bipedal robotic systems
• Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity
• Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation
• Energy-efficacy comparisons and multibody dynamics analyses of legged robots with different closed-loop mechanisms
• Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map

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