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Article
On a Normal-Form Analysis for a Class of Passive Bipedal Walkers
| Authors: |
Piiroinen, P T, Dankowicz, H., Nordmark, A. |
| Document Type: |
Article |
| Pubstate: |
Published |
| Journal: |
Int J. of bifurcation and Chaos |
| Volume: |
11(9)
2411-2425 |
| Year: |
2001 |
AbstractA center-manifold technique is implemented to arrive at a normal-form for the natural dynamics of a passive, bipedal rigid-body mechanism in the vicinity of infinite foot width and near-symmetric body geometry. In particular, numerical schemes are developed for finding approximate forms of the relevant invariant manifolds and the near-singular dynamics on these manifolds. The normal-form approximations are found to be highly accurate for relative large foot widths with a range of validity extending to widths on the order of the mechanisms` height.
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