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Especially, we focus on the basin of attraction since it determines the stability of bipedal walking. We treat two similar but different bipedal walking models (passive and active dynamic walking models) and examine common mathematical structure between these models. We find that the saddle hyperbolicity and hybrid system play important roles for the shape of the basin of attraction in both models, which are quite common for more general bipedal models and important for understanding the stability mechanism of bipedal walking."}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1420564276162043136","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"30583455"},{"@type":"NRID","@value":"1000030583455"},{"@type":"CINII_AUTHOR_ID","@value":"DA19975662"},{"@type":"URI","@value":"https://ci.nii.ac.jp/author/DA19975662#entity"},{"@type":"URI","@value":"https://viaf.org/viaf/NII%7CDA19975662"},{"@type":"NRID","@value":"9000400161247"},{"@type":"NRID","@value":"9000252671017"},{"@type":"NRID","@value":"9000399228388"},{"@type":"NRID","@value":"9000399228384"},{"@type":"NRID","@value":"9000341535097"},{"@type":"NRID","@value":"9000415230276"},{"@type":"NRID","@value":"9000300214063"},{"@type":"NRID","@value":"9000408463063"},{"@type":"NRID","@value":"9000375859382"},{"@type":"NRID","@value":"9000400195867"},{"@type":"NRID","@value":"9000409299222"},{"@type":"NRID","@value":"9000399573253"},{"@type":"NRID","@value":"9000405644020"},{"@type":"NRID","@value":"9000409299537"},{"@type":"NRID","@value":"9000410345103"},{"@type":"NRID","@value":"9000392143232"},{"@type":"NRID","@value":"9000403550696"},{"@type":"NRID","@value":"9000399238700"},{"@type":"NRID","@value":"9000411205689"},{"@type":"NRID","@value":"9000399342221"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/i.obayashi"}],"foaf:name":[{"@value":"Ippei 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