Paper Title :Nonlinear Time-Series Analysis Of Compass-Gait Biped

Author :Xizhe Zang, Sajid Iqbal, Xinyu Liu, Yanhe Zhu, Muhammad Majid Gulzar, Jie Zhao

Article Citation :Xizhe Zang ,Sajid Iqbal ,Xinyu Liu ,Yanhe Zhu ,Muhammad Majid Gulzar ,Jie Zhao , (2016 ) " Nonlinear Time-Series Analysis Of Compass-Gait Biped " , International Journal of Advance Computational Engineering and Networking (IJACEN) , pp. 7-11, Volume-4,Issue-2

Abstract : Many research groups developed bifurcation diagrams, Poincare maps and computed Feigenbaum constants for passive walkers. Very few attempts have been made for performing nonlinear time-series analyses of these complex dynamical systems. Besides, Garcia’s et al.’s the simplest walking model, the compass-gait biped model is the most commonly used passive dynamic walking (PDW) biped robot by the biomechanists, robotics engineers and chaos theorists. We accomplished nonlinear analysis of a time-series generated by the compass-gait biped and aimed to examine its dynamical behavior. The walking gait time-series data presented chaotic dynamics as fractal dimensions and positive Lyapunov exponents were found. Index Terms— Compass-Gait Biped, Deterministic Chaos, Passive Dynamic Walking, Nonlinear Time-Series Analysis.

Type : Research paper

Published : Volume-4,Issue-2

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