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4 (2012) 040503
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040503-3
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[1] Winter D 1991 Biomechanics and Motor Control of Human Movement (2nd ed) (New York: Wiley)
[2] McGeer T 1990 I. J. Robotic Res. 9 62
[3] Garcia M, Chatterjee A, Ruina A, Coleman M 1998 J. Biomech.
Eng. 120 281
[4] Goswami A, Thuilot B, Espiau B 1998 I. J. Robotic Res. 17 1282
[5] Schwab A, Wisse M 2001 Basin of attraction of the simplest walking model. In: International Conference on Noise and Vibration,
(Pennsylvania: ASME)
[6] Liu N, Li J F, Wang T S 2008 Mechanics in Engineering 30 18 (in
040503-7
Abstract
Passive dynamic walking becomes an important development for walking robots due to its simple structure and high energy
efficiency, but it often falls. The key to this problem is to ascertain its stable gaits and basins of attraction. In order to handle the
discontinuity, massive numerical computation is unavoidable. In this paper, we first propose an algorithm to compute Poincare maps
in heterogeneous platforms with CPU and GPU, which can take the best performance of the newest heterogeneous platforms and
improve the computing speed by more than a hundred times. With this algorithm, we study the simplest walking model by sampling
massive points from the state space. We obtain high resolution images of the basin of attraction, and reveal its fractal structure. By
computing the relation between the stable gaits and their basins and by varying the slop k, we find a new three-period stable gait and a
period-doubling route to chaos, and we also study the new gait and its basin.
* Project supported by the National Natural Science Foundation of China (Grant Nos. 61104150, 10972082), the Natural Science Foundation
Project of CQ CSTC (Grant No. cstcjjA40044), and the Independent Innovation Foundation of HUST(Grant No. 011906).
E-mail: ql78@cornell.edu
040503-8