学術雑誌論文

学術雑誌論文

text

Nonlinear Dynamics. 2023, 111(23), p. 21941-21955

Sharp changes in fractal basin of attraction in passive dynamic walking

Springer Science and Business Media B.V.

英語

text

2023-11-22

https://doi.org/10.1007/s11071-023-08913-w

The version of record of this article, first published in Nonlinear Dynamics, is available online at Publisher’s website: https://doi.org/10.1007/s11071-023-08913-w

A passive dynamic walker is a mechanical system that walks down a slope without any control, and gives useful insights into the dynamic mechanism of stable walking. This system shows specific attractor characteristics depending on the slope angle due to nonlinear dynamics, such as period-doubling to chaos and its disappearance by a boundary crisis. However, it remains unclear what happens to the basin of attraction. In our previous studies, we showed that a fractal basin of attraction is generated using a simple model over a critical slope angle by iteratively applying the inverse image of the Poincaré map, which has stretching and bending effects. In the present study, we show that the size and fractality of the basin of attraction sharply change many times by changing the slope angle. Furthermore, we improved our previous analysis to clarify the mechanisms for these changes and the disappearance of the basin of attraction based on the stretching and bending deformation in the basin formation process. These findings will improve our understanding of the governing dynamics to generate the basin of attraction in walking.

This article is licensed under a Creative Commons Attribution 4.0 International License.

93366

Sharp changes in fractal basin of attraction in passive dynamic walking

Springer Science and Business Media B.V.

英語

2023-11-22

Nonlinear Dynamics

111

23

21941

21955

https://doi.org/10.1007/s11071-023-08913-w

https://hdl.handle.net/11094/93366