Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity

@article{Obayashi2016FormationMO,
  title={Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity},
  author={Ippei Obayashi and Shinya Aoi and Kazuo Tsuchiya and Hiroshi Kokubu},
  journal={Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences},
  year={2016},
  volume={472}
}
  • Ippei Obayashi, Shinya Aoi, +1 author Hiroshi Kokubu
  • Published in
    Proceedings of the Royal…
    2016
  • Physics, Mathematics, Medicine
  • Passive dynamic walking is a useful model for investigating the mechanical functions of the body that produce energy-efficient walking. The basin of attraction is very small and thin, and it has a fractal-like shape; this explains the difficulty in producing stable passive dynamic walking. The underlying mechanism that produces these geometric characteristics was not known. In this paper, we consider this from the viewpoint of dynamical systems theory, and we use the simplest walking model to… CONTINUE READING

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