Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity
DOI10.1098/RSPA.2016.0028zbMATH Open1371.70028OpenAlexW2964200944WikidataQ51241476 ScholiaQ51241476MaRDI QIDQ5363585FDOQ5363585
Authors: Ippei Obayashi, Shinya Aoi, Kazuo Tsuchiya, Hiroshi Kokubu 
Publication date: 29 September 2017
Published in: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1098/rspa.2016.0028
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Biomechanical solid mechanics (74L15) Robot dynamics and control of rigid bodies (70E60) Biomechanics (92C10)
Cited In (8)
- 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
- Existence and stability of limit cycles in the model of a planar passive biped walking down a slope
- Common formation mechanism of basin of attraction for bipedal walking models by saddle hyperbolicity and hybrid dynamics
- Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation
- Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map
- Numerical estimation of balanced and falling states for constrained legged systems
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