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

DOI PDF Web Site Web Site 被引用文献6件 参考文献14件 オープンアクセス

書誌事項

公開日
2015-07
資源種別
journal article
権利情報
  • http://creativecommons.org/licenses/by/4.0
DOI
  • 10.1007/s13160-015-0181-9
公開者
Springer Science and Business Media LLC

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説明

In this paper, we investigate the mathematical structures and mechanisms of bipedal walking from a dynamical viewpoint. 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.

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