DOIONLINE 
DOIONLINE Publish In |
International Journal of Advance Computational Engineering and Networking (IJACEN)-IJACEN |
 Journal Home Volume Issue |
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Issue |
Volume-4,Issue-2 ( Feb, 2016 ) | |||||||||
Paper Title |
Nonlinear Time-Series Analysis Of Compass-Gait Biped | |||||||||
Author Name |
Xizhe Zang, Sajid Iqbal, Xinyu Liu, Yanhe Zhu, Muhammad Majid Gulzar, Jie Zhao | |||||||||
Affilition |
Harbin Institute of Technology, China 5University of Science and Technology of China. China | |||||||||
Pages |
7-11 | |||||||||
Abstract |
Many research groups developed bifurcation diagrams, Poincare maps and computed Feigenbaum constants for passive walkers. Very few attempts have been made for performing nonlinear time-series analyses of these complex dynamical systems. Besides, Garcia’s et al.’s the simplest walking model, the compass-gait biped model is the most commonly used passive dynamic walking (PDW) biped robot by the biomechanists, robotics engineers and chaos theorists. We accomplished nonlinear analysis of a time-series generated by the compass-gait biped and aimed to examine its dynamical behavior. The walking gait time-series data presented chaotic dynamics as fractal dimensions and positive Lyapunov exponents were found. Index Terms— Compass-Gait Biped, Deterministic Chaos, Passive Dynamic Walking, Nonlinear Time-Series Analysis. | |||||||||
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