Research papers
A passive-biped model with multiple routes to chaos
F. Farshimi1 ,M. Naraghi1 ,2
1. Department of mechanical Engineering, Amirkabir University of Technology, Tehran Iran
Abstract 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.
Keywords
Passive-biped
Routes to chaos
Upper body
Bifurcation
Received: 22 June 2009
Corresponding Authors:
M. Naraghi
E-mail: naraghi@aut.ac.ir
Cite this article:
F. -Farshimi,M. -Naraghi. A passive-biped model with multiple routes to chaos[J]. Acta Mechanica Sinica, 2011, 27(2): 277-284.
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