Many systems can display a very short, rapid change stage (quasi-discontinuous region) inside a relatively very long and slow change process. A quantitative definition for the 'quasi-discontinuity' in these sy...Many systems can display a very short, rapid change stage (quasi-discontinuous region) inside a relatively very long and slow change process. A quantitative definition for the 'quasi-discontinuity' in these systems has been introduced. With the aid of a simplified model, some extraordinary Feigenbaum constants have been found inside the period-doubling cascades, the relationship between the values of the extraordinary Feigenbaum constants and the quasi-discontinuity of the system has also been reported. The phenomenon has been observed in Pikovsky circuit and Rose-Hindmash model.展开更多
With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight slope.In fact,there is a de...With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight slope.In fact,there is a delicate balance in the energy conversion in the stable periodic gait,making the gait adjustable by changing the model parameters.Poincaré mapping is combined with Newton-Raphson iteration to obtain the numerical solution of the final state of the passive dynamic walking model.In addition,a simulation on the walking gait of the model is performed by increasing the slope step by step,thereby fixing the model's parameters synchronously.Then,the gait features obtained in the different slope stages are analyzed and discussed,the intrinsic laws are revealed in depth.The results indicate that the gait can present features of a single period,doubling period,the entrance of chaos,merging of sub-bands,and so on,because of the high sensitivity of the passive dynamic walking to the slope.From a global viewpoint,the gait becomes chaotic by way of period doubling bifurcation,with a self-similar Feigenbaum fractal structure in the process.At the entrance of chaos,the gait sequence comprises a Cantor set,and during the chaotic stage,sub-bands in the final-state diagram of the robot system present as a mirror of the period doubling bifurcation.展开更多
文摘Many systems can display a very short, rapid change stage (quasi-discontinuous region) inside a relatively very long and slow change process. A quantitative definition for the 'quasi-discontinuity' in these systems has been introduced. With the aid of a simplified model, some extraordinary Feigenbaum constants have been found inside the period-doubling cascades, the relationship between the values of the extraordinary Feigenbaum constants and the quasi-discontinuity of the system has also been reported. The phenomenon has been observed in Pikovsky circuit and Rose-Hindmash model.
基金supported by the National Natural Science Foundation of China (60905049)the self-managed Project of State Key Laboratory of Robotic Technology and System in Harbin Institute of Technology(200804C)
文摘With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight slope.In fact,there is a delicate balance in the energy conversion in the stable periodic gait,making the gait adjustable by changing the model parameters.Poincaré mapping is combined with Newton-Raphson iteration to obtain the numerical solution of the final state of the passive dynamic walking model.In addition,a simulation on the walking gait of the model is performed by increasing the slope step by step,thereby fixing the model's parameters synchronously.Then,the gait features obtained in the different slope stages are analyzed and discussed,the intrinsic laws are revealed in depth.The results indicate that the gait can present features of a single period,doubling period,the entrance of chaos,merging of sub-bands,and so on,because of the high sensitivity of the passive dynamic walking to the slope.From a global viewpoint,the gait becomes chaotic by way of period doubling bifurcation,with a self-similar Feigenbaum fractal structure in the process.At the entrance of chaos,the gait sequence comprises a Cantor set,and during the chaotic stage,sub-bands in the final-state diagram of the robot system present as a mirror of the period doubling bifurcation.
