• Published 2011

Falling of a Passive Compass-Gait Biped Robot Caused by a Boundary Crisis

@inproceedings{Gritli2011FallingOA,
  title={Falling of a Passive Compass-Gait Biped Robot Caused by a Boundary Crisis},
  author={Hassene Gritli and Nahla Khraief and Safya Belghith},
  year={2011}
}
The planar passive compass-gait biped robot on sloped surfaces is the simplest model of legged walkers. It is a two-degrees-of-freedom impulsive mechanical system known to exhibit, in response to an increase in the slope angle of the walking surface, a sequence of period-doubling bifurcations leading to chaos before falling down at some critical slope without any explanation. The fall is found to be occured with the abrupt destruction of chaos. We showed recently that a cyclicfold bifurcation… CONTINUE READING

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