A passive-biped model with multiple routes to chaos. (English) Zbl 1270.70011
Summary: This paper presents a new passive-biped model consisting of a simplest walking model beneath an upper body, with no kinematic constraint. The upper body is attached to the legs with a linear torsional spring. The model is a passive dynamic walker, so it walks down a slope without energy input. The governing equations of motion are derived and simulated for the parameter analysis purposes. Simulation results reveal some different routes to chaos that have not been observed in previous models.
MSC:
| 70E60 | Robot dynamics and control of rigid bodies |
| 70K55 | Transition to stochasticity (chaotic behavior) for nonlinear problems in mechanics |
| 92C10 | Biomechanics |
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