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Hierarchical implicit feedback structure in passive dynamic walking

Yasuhiro Sugimoto, Koichi Osuka

Open publisher page 7 citations

Abstract

The purpose of this paper is to analyze the stability of Passive Dynamic Walking (PDW) using a linearized analytical Poincare map. In particular, in this paper, we focus on a bifurcation phenomenon in PDW. Although the bifurcation of the walking period is one of the well-known features of PDW, it have not been studied sufficiently so far. Using techniques similar to our previous research, we derive an analytical Poincare map for 2-period walking and discuss the stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincare map.

About this research paper

What this paper is about

The purpose of this paper is to analyze the stability of Passive Dynamic Walking (PDW) using a linearized analytical Poincare map. In particular, in this paper, we focus on a bifurcation phenomenon in PDW. Although the bifurcation of the walking period is one of the well-known features of PDW, it have not been studied sufficiently so far. Using techniques similar to our previous research, we derive an analytical Poincare map for 2-period walking and discuss the stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincare map.

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OpenAlex reports 7 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

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Method / approach

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Available abstract

The purpose of this paper is to analyze the stability of Passive Dynamic Walking (PDW) using a linearized analytical Poincare map. In particular, in this paper, we focus on a bifurcation phenomenon in PDW. Although the bifurcation of the walking period is one of the well-known features of PDW, it have not been studied sufficiently so far. Using techniques similar to our previous research, we derive an analytical Poincare map for 2-period walking and discuss the stability of PDW with this map. In addition, we point out that there is a similar interesting structure in this Poincare map.

Key concepts: Poincaré map, Bifurcation, Focus (optics), Poincaré conjecture, Stability (learning theory), Control theory (sociology), Bifurcation theory, Computer science

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