Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis

Sajid Iqbal; Xizhe Zang; Xinyu Liu; Muhammad Majid Gulzar; Yanhe Zhu; Jie Zhao

doi:10.1109/SIMS.2016.10

Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has been explored using only bifurcation diagrams and phase-space plots, but we studied it using nonlinear time-series analysis. The experimental results from walking experiments of prototype passive compass-gait biped validated the simulation results. These results can be useful for designing efficient bipedal robots.

Original language	English
Title of host publication	Proceedings - SIMS 2016
Subtitle of host publication	2nd International Conference on Systems Informatics, Modelling and Simulation
Editors	Andrejs Romanovs, David Al-Dabass, Yuri Merkuryev, Galina Merkuryeva
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3-10
Number of pages	8
ISBN (Electronic)	9781509026937
DOIs	https://doi.org/10.1109/SIMS.2016.10
State	Published - 9 Jan 2017
Externally published	Yes
Event	2nd International Conference on Systems Informatics, Modelling and Simulation, SIMS 2016 - Riga, Latvia Duration: 1 Jun 2016 → 3 Jun 2016

Publication series

Name	Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation

Conference

Conference	2nd International Conference on Systems Informatics, Modelling and Simulation, SIMS 2016
Country/Territory	Latvia
City	Riga
Period	1/06/16 → 3/06/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Chaos
nonlinear dynamics
nonlinear time-series analysis
passive dynamic walking

ASJC Scopus subject areas

Computer Networks and Communications
Modeling and Simulation
Artificial Intelligence
Computer Science Applications
Hardware and Architecture

Access to Document

10.1109/SIMS.2016.10

Cite this

Iqbal, S., Zang, X., Liu, X., Gulzar, M. M., Zhu, Y., & Zhao, J. (2017). Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis. In A. Romanovs, D. Al-Dabass, Y. Merkuryev, & G. Merkuryeva (Eds.), Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation (pp. 3-10). Article 7811862 (Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SIMS.2016.10

Iqbal, Sajid ; Zang, Xizhe ; Liu, Xinyu et al. / Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis. Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation. editor / Andrejs Romanovs ; David Al-Dabass ; Yuri Merkuryev ; Galina Merkuryeva. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 3-10 (Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation).

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title = "Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis",

abstract = "Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has been explored using only bifurcation diagrams and phase-space plots, but we studied it using nonlinear time-series analysis. The experimental results from walking experiments of prototype passive compass-gait biped validated the simulation results. These results can be useful for designing efficient bipedal robots.",

keywords = "Chaos, nonlinear dynamics, nonlinear time-series analysis, passive dynamic walking",

author = "Sajid Iqbal and Xizhe Zang and Xinyu Liu and Gulzar, \{Muhammad Majid\} and Yanhe Zhu and Jie Zhao",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2nd International Conference on Systems Informatics, Modelling and Simulation, SIMS 2016 ; Conference date: 01-06-2016 Through 03-06-2016",

year = "2017",

month = jan,

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doi = "10.1109/SIMS.2016.10",

language = "English",

series = "Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Iqbal, S, Zang, X, Liu, X, Gulzar, MM, Zhu, Y & Zhao, J 2017, Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis. in A Romanovs, D Al-Dabass, Y Merkuryev & G Merkuryeva (eds), Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation., 7811862, Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation, Institute of Electrical and Electronics Engineers Inc., pp. 3-10, 2nd International Conference on Systems Informatics, Modelling and Simulation, SIMS 2016, Riga, Latvia, 1/06/16. https://doi.org/10.1109/SIMS.2016.10

Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis. / Iqbal, Sajid; Zang, Xizhe; Liu, Xinyu et al.
Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation. ed. / Andrejs Romanovs; David Al-Dabass; Yuri Merkuryev; Galina Merkuryeva. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3-10 7811862 (Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Iqbal, Sajid

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AU - Liu, Xinyu

AU - Gulzar, Muhammad Majid

AU - Zhu, Yanhe

AU - Zhao, Jie

PY - 2017/1/9

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N2 - Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has been explored using only bifurcation diagrams and phase-space plots, but we studied it using nonlinear time-series analysis. The experimental results from walking experiments of prototype passive compass-gait biped validated the simulation results. These results can be useful for designing efficient bipedal robots.

AB - Passive dynamic walking (PDW) provides us better insight for understanding human walking, for developing prosthetic limbs and for designing superior bipedal robots. In this paper, we investigated the dynamics of a simple PDW, 2D compass-gait biped model that loosely look like human legs (without knees), using time-series analysis based on nonlinear dynamics. Previously, this passive biped model has been explored using only bifurcation diagrams and phase-space plots, but we studied it using nonlinear time-series analysis. The experimental results from walking experiments of prototype passive compass-gait biped validated the simulation results. These results can be useful for designing efficient bipedal robots.

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Iqbal S, Zang X, Liu X, Gulzar MM, Zhu Y, Zhao J. Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis. In Romanovs A, Al-Dabass D, Merkuryev Y, Merkuryeva G, editors, Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 3-10. 7811862. (Proceedings - SIMS 2016: 2nd International Conference on Systems Informatics, Modelling and Simulation). doi: 10.1109/SIMS.2016.10

Dynamics Study of Compass-Gait Biped Robot through Nonlinear Time-Series Analysis

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this