Further Analysis of the Period-Three Route to Chaos in Passive Dynamic Walking of a Compass-Gait Biped Robot

This paper continues our investigations into the period-three route to chaos exhibited in the passive dynamic walking of a compass-gait biped robot [8]. The further analysis on the resulting chaos is made by Lyapunov exponents and fractal dimension. The chaotic attractor, its first return and its basin of attraction are presented. In addition, the study of… (More)