Development of initial conditions based on attraction of simplest walking model

• 作 者: AN Kang CHEN Qi-jun
• 机 构: College of Electronics and Information Engineeing, Tongji University, Shanghai 201804, China
• 出 处: 2011年中国智能自动化会议
• 发表日期: 2011年7期
• 关键词: passive dynamic walking attraction basic biped robots

　　Passive dynamic walking is important for the
　　development of bipedal walking robots. A robust
　　walking model would have
　　a large basin of attraction and require few steps to
　　reach the fixed point. The development of the initial
　　conditions in the basin of
　　attraction of the simplest walking model was
　　discussed. The results show that starting with the
　　initial conditions inside some stripes
　　in the basin of attraction, the model needs fewer
　　steps to approach the periodic fixed point. All paths
　　started with the initial conditions
　　inside the basin of attraction will either pass
　　through a stripe of the region around the fixed point
　　or start within this region.