The simple chaotic model of passive dynamic walking

Moghadam, Saeed Montazeri; Talarposhti, Maryam Sadeghi; Niaty, Ali; Towhidkhah, Farzad; Jafari, Sajad

doi:10.1007/s11071-018-4252-8

Cited by 34 publications

(6 citation statements)

References 70 publications

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“…[20] designed semicircular feet for the model to gain more stability. The problem of heel Strike is considered in [21]. In order to simulate human walking, [23,31] designed a new model with a sole foot and analyzed its stability.…”

Section: Related Workmentioning

confidence: 99%

Backstepping-based control for a new semi-passive biped model

Feng

2023

ACE

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In this work, we propose a new Semi-Passive Biped (SPB) Model and a Center of Gravity Shift (CGS) control method of this model. The passing friction between the swing leg and the ground of passive robots locomotion consumes robots energy, resulting in the model cant walk passively. In order to analyze this problem in a more practical way, we propose a new SPB Model and analyze its energy consumption. Also, we suggest a CGS control method, which can make the proposed new SPB model walk stable. Finally, an illustrative experiment is presented to verify the SPB model and the effectiveness of the CGS control method.

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Section: Related Workmentioning

confidence: 99%

Backstepping-based control for a new semi-passive biped model

Feng

2023

ACE

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“…Muralidharan et.al's [52] PD gait model captures the neuronal dynamics of FoG; however, they do not focus on the kinetic aspects of the PD gait. Moghadam et al [51] combine the chaotic region of the Lorentz system with a passive dynamic walker and generate high variability observed in PD. Even though mechanical aspects of gait are captured in their model, the addition of chaos externally limits its biophysical meaning.…”

Section: Introductionmentioning

confidence: 99%

Modelling and analysis of Parkinsonian gait

Unni

Menon

2022

Nonlinear Dyn

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Freezing of gait is a late-stage debilitating symptom of Parkinson’s disease (PD) characterised by a sudden involuntary stoppage of forward progression of gait. The present understanding of PD gait is limited, and there is a need to develop mathematical models explaining PD gait’s underlying mechanisms. A novel hybrid system model is proposed in this paper, in which a mechanical model is coupled with a neuronal model. The proposed hybrid system model has event-dependent feedback and demonstrates PD-relevant behaviours such as freezing, high variability and stable gait. The model’s robustness is studied by analysing relevant parameters such as gain in the event-dependent feedback and level of activation of the central pattern generator neurons. The effect of augmented feedback on the model is also studied to understand different FoG management methods, such as sensory and auditory cues. The model indicates the frequency-dependent behaviours in PD, which are in line with the STN stimulation and external cueing-related studies. The model allows one to estimate the parameters from the data and thereby personalise the cueing regimes for patients. The model can be of help in understanding the mechanism of FoG and developing measures to counter its severity.

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“…Additionally, in the world of medicine, there are techniques for analyzing heart rhythms (Ferreira et al 2011), environment study (Aricio glu and Berk 2022), enzymesubstrate reactions in a brain waves model via a biological snap oscillator (Vaidyanathan et al 2018), predicting irregular heartbeats (Firth 1991), observation of performance of asynchronous machine (Öztürk 2020), stepper motor (Miladi et al 2021), and controlling them. Moreover, in the field of mechanics and robotics, there are some applications of chaos in complex systems like the mechanical oscillators (Buscarino et al 2016;Gritli and Belghith 2018a;Khraief Haddad et al 2017), the mobile robots (Sambas et al 2016;Vaidyanathan et al 2017;Volos et al 2012Volos et al , 2013, and also the bipedal walking robots Belghith 2017a, 2018b;Iqbal et al 2014;Montazeri Moghadam et al 2018). The chaotic systems have been considered as important and attractive areas of research that have constantly evolved over the years which have an unpredictable behavior while changing the some parameters.…”

Section: Introductionmentioning

confidence: 99%

“…The walk of a bipedal robot is modeled by a hybrid impulsive nonlinear dynamics (Fathizadeh et al 2019;Goswami et al 1998;Iqbal et al 2014), which is considered complex and which can generate periodic cycles, quasi-periodic behaviors, chaotic motions and several types of bifurcation, including the period-doubling bifurcation, the cyclic-fold bifurcation, and the Neimark-Sacker bifurcation (called also the torus bifurcation), as for example in (Added andGritli 2022, 2023;Added et al 2021a,c;Fathizadeh et al 2018;Goswami et al 1998;Gritli and Belghith 2016a,b, 2017a,b, 2018bGritli et al 2012Gritli et al , 2011Gritli et al , 2018Jun 2022;Makarenkov 2020;Montazeri Moghadam et al 2018;Nourian Zavareh et al 2018). The existence and study of the period-doubling bifurcations exhibited in the biped robots' walking has been widely realized in the literature using the principle of Poincaré maps and also by determining its analytical expression like in (Znegui et al 2020a(Znegui et al , 2021 and also by using it in the chaos control (Znegui et al 2020b).…”

Section: Introductionmentioning

confidence: 99%

Occurrence of Complex Behaviors in the Uncontrolled Passive Compass Biped Model

Added

Gritli

Belghith

2022

Chaos Theory and Applications

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It is widely known that an appropriately built unpowered bipedal robot can walk down an inclined surface with a passive steady gait. The features of such gait are determined by the robot's geometry and inertial properties, as well as the slope angle. The energy needed to keep the biped moving steadily comes from the gravitational potential energy as it descends the inclined surface. The study of such passive natural motions could lead to ideas for managing active walking devices and a better understanding of the human locomotion. The major goal of this study is to further investigate order, chaos and bifurcations and then to demonstrate the complexity of the passive bipedal walk of the compass-gait biped robot by examining different bifurcation diagrams and also by studying the variation of the eigenvalues of the Poincaré map's Jacobian matrix and the variation of the Lyapunov exponents. We reveal also the exhibition of some additional results by changing the inertial and geometrical parameters of the bipedal robot model.

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The simple chaotic model of passive dynamic walking

Cited by 34 publications

References 70 publications

Backstepping-based control for a new semi-passive biped model

Backstepping-based control for a new semi-passive biped model

Modelling and analysis of Parkinsonian gait

Occurrence of Complex Behaviors in the Uncontrolled Passive Compass Biped Model

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