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

DOI10.1007/s13160-015-0181-9zbMath1358.37125arXiv1407.5720OpenAlexW840498536WikidataQ59404143 ScholiaQ59404143MaRDI QIDQ495865

Shinya Aoi, Ippei Obayashi, Kazuo Tsuchiya, Hiroshi Kokubu

Publication date: 15 September 2015

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

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

zbMATH Keywords

basin of attractiondynamical systemhyperbolicityhybrid systembipedal walking

Mathematics Subject Classification ID

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

Related Items (4)

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 ⋮ 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: rise of the Neimark-Sacker bifurcation

Cites Work

• Unnamed Item
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• Ballistic walking: an improved model
• Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity

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