Bifurcation and chaos in the simple passive dynamic walking model with upper body

We present some rich new complex gaits in the simple walking model with upper body by Wisse et al. in [Robotica 22, 681 (2004)]. We first show that the stable gait found by Wisse et al. may become chaotic via period-doubling bifurcations. Such period-doubling routes to chaos exist for all parameters...

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Bibliographic Details
Published in:Chaos (Woodbury, N.Y.) N.Y.), 2014-09, Vol.24 (3), p.033114-033114
Main Authors: Li, Qingdu, Guo, Jianli, Yang, Xiao-Song
Format: Article
Language:English
Subjects:
BIFURCATION
Bifurcations
Body Height - physiology
Body Weight - physiology
CHAOS THEORY
CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS
FLEXIBILITY
Gait
Gait - physiology
Hip - physiology
Humans
LENGTH
MASS
Models, Biological
Nonlinear Dynamics
Poincare maps
Stiffness
TOPOLOGY
VERIFICATION
Walking
Walking - physiology
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Summary:We present some rich new complex gaits in the simple walking model with upper body by Wisse et al. in [Robotica 22, 681 (2004)]. We first show that the stable gait found by Wisse et al. may become chaotic via period-doubling bifurcations. Such period-doubling routes to chaos exist for all parameters, such as foot mass, upper body mass, body length, hip spring stiffness, and slope angle. Then, we report three new gaits with period 3, 4, and 6; for each gait, there is also a period-doubling route to chaos. Finally, we show a practical method for finding a topological horseshoe in 3D Poincaré map, and present a rigorous verification of chaos from these gaits.
ISSN:1054-1500
1089-7682
DOI:10.1063/1.4890834