Hidden Attractor in a Passive Motion Model of Compass-Gait Robot Publisher



Nourian Zavareh M¹ ; Nazarimehr F² ; Rajagopal K³ ; Jafari S²
Source: International Journal of Bifurcation and Chaos Published:2018

Abstract

Many studies have been done on different aspects of biped robots such as motion, path planning, control and stability. Dynamical properties of biped robot on a sloping surface such as equilibria and their stabilities, bifurcations and basin of attraction are investigated in this paper. Basin of attraction is an important property since it can determine the unseen conditions which affect the attractor of the system with multistabilities. By the help of basin of attractions, the paper claims that the strange attractors of compass-gait robot are hidden. © 2018 World Scientific Publishing Company.