Citation

Li Q, Guo J, Yang XS. Chaos Solitons Fractals 2014; 24(3): e033114.

Affiliation

Department of Mathematics, Huazhong University of Science and Technology, Wuhan 430074, China.

Copyright

(Copyright © 2014, Elsevier Publishing)

DOI

10.1063/1.4890834

PMID

25273194

Abstract

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.

Language: en