| Presentation | 2014-01-21 Initial Dependence of Passive Dynamic Walking with ODE K. YAMAMOTO, J. KUROIWA, T. ODAKA, I. SUWA, H. SHIRAI, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The purpose of this paper is to investigate dynamics of walking patterns in a passive dynamic walker. Toyoda et. al. studied walking patterns in a two-dimensional passive dynamic walker by solving its basic equations numerically with the Runge-Kutta method. The results showed that a period-doubling bifurcation appears as an angle of the slope increases, in addition, for certain angles attractor coexistence phenomena appear where the system converges different walking patterns depending on its initial position. However, since the passive dynamic walker corresponds to a duplex pendulum, it is possible that various walking patterns appears depending on a transition rule at heelstrike collision. Therefore, it is unknown whether attractor coexistence phenomena does happen or not in a actual passive dynamic walker. We investigate walking patterns in a passive dynamic walker with ODE(Open Dynamics Engine). We simulate a passive dynamic walker for its various initial positions and observe walking patterns. It is shown that a period-doubling bifurcation appears, in addition, for certain angles attractor coexistence phenomena appear. It suggests that coexistence phenomena would be developed in a actual passive dynamic walker. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | passive dynamic walking / walking pattern / attractor coexistance |
| Paper # | NLP2013-133 |
| Date of Issue |
| Conference Information | |
| Committee | NLP |
|---|---|
| Conference Date | 2014/1/14(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | Nonlinear Problems (NLP) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Initial Dependence of Passive Dynamic Walking with ODE |
| Sub Title (in English) | |
| Keyword(1) | passive dynamic walking |
| Keyword(2) | walking pattern |
| Keyword(3) | attractor coexistance |
| 1st Author's Name | K. YAMAMOTO |
| 1st Author's Affiliation | Graduate School of Engineering, University of Fukui() |
| 2nd Author's Name | J. KUROIWA |
| 2nd Author's Affiliation | Graduate School of Engineering, University of Fukui |
| 3rd Author's Name | T. ODAKA |
| 3rd Author's Affiliation | Graduate School of Engineering, University of Fukui |
| 4th Author's Name | I. SUWA |
| 4th Author's Affiliation | Graduate School of Engineering, University of Fukui |
| 5th Author's Name | H. SHIRAI |
| 5th Author's Affiliation | Technology Division, Faculty of Engineering, University of Fukui |
| Date | 2014-01-21 |
| Paper # | NLP2013-133 |
| Volume (vol) | vol.113 |
| Number (no) | 383 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |