Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: Birth of a torus bifurcation
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- 作者：Hassè ; ne Gritli ; a ; b ; grhass@yahoo.fr" class="auth_mail" title="E-mail the corresponding author ; Safya Belghithb
- 关键词：Semi-passive dynamic walking ; Constrained Poincaré ; map ; OGY-based control ; Chaos ; Torus bifurcation ; Discontinuous period-doubling bifurcation
- 刊名：Applied Mathematical Modelling
- 出版年：2016
- 出版时间：15 February 2016
- 年：2016
- 卷：40
- 期：4
- 页码：2946-2967
- 全文大小：7647 K
文摘
We consider the displayed phenomena in the semi-passive dynamic walking of a torso-driven biped robot under the OGY control method as it descends inclined surfaces. The desired torso angle is the accessible control parameter. Analysis of the controlled steady semi-passive gaits are carried out mainly by means of bifurcations diagrams and Poincaré sections as the slope parameter varies. Based on Floquet multipliers, we show that a torus bifurcation was born leading hence to the generation of a quasi-periodic bipedal walking. Analysis of the controlled semi-passive dynamic walking is investigated also through a constrained controlled Poincaré map. We demonstrate that a such controlled map and the controlled impulsive hybrid nonlinear model of the biped display almost the same phenomena. We show also that the controlled constrained Poincaré map exhibits a discontinuous period-doubling bifurcation.