TY  - JOUR
PY  - 2014//
TI  - Bifurcation and chaos in the simple passive dynamic walking model with upper body
JO  - Chaos, solitons and fractals
A1  - Li, Qingdu
A1  - Guo, Jianli
A1  - Yang, Xiao-Song
SP  - e033114
EP  - e033114
VL  - 24
IS  - 3
N2  - 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.<p />  <p>Language: en</p>
LA  - en
SN  - 0960-0779
UR  - http://dx.doi.org/10.1063/1.4890834
ID  - ref1
ER  -