| Title: |
Study on the external topology structure of the basin of attraction for passive walking robots on rough terrain |
| Authors: |
ZHAO Tian; BAO Yumeng; FU Hong; GAO Jianshe; LIU Qiang |
| Source: |
Jixie qiangdu, Vol 48, Pp 37-46 (2026) |
| Publisher Information: |
Editorial Office of Journal of Mechanical Strength, 2026. |
| Publication Year: |
2026 |
| Collection: |
LCC:Mechanical engineering and machinery; LCC:Materials of engineering and construction. Mechanics of materials |
| Subject Terms: |
Passive walking; Rough terrain; Limit cycle; Basin of attraction; External topology; Mechanical engineering and machinery; TJ1-1570; Materials of engineering and construction. Mechanics of materials; TA401-492 |
| Description: |
ObjectiveThe basin of attraction determines the global stability of passive walking robots, yet its narrow morphology poses tremendous challenges to the stable walking of robots in real environments. To address this issue, an investigation was conducted on the external topological structure of the basin of attraction for passive walking robots on rough terrain.MethodsFirstly, a dynamic model of a point-foot robot walking on rough terrain was established. Secondly, the gait variation and global stability of the robot were explored using phase diagrams, Poincaré section diagrams and basins of attraction, with a focus on investigating the influence of external environmental factors on the system’s basin of attraction and conducting a classified analysis of its external topological structure. Finally, the walking gait corresponding to the stable limit cycle was verified via simulation on Adams software.ResultsThe results show that the external topological structure of the basin of attraction exhibits fractal characteristics, among which the region where the robot can walk at least one step accounts for 41.28% of the entire state space. The introduction of pavement environmental disturbances leads to a reduction in the area of the basin of attraction, but has a minor impact on its external topological structure of the basin of attraction. The research results expand the applicable scope of the passive walking theory and provide a larger space for the selection of initial gait conditions. |
| Document Type: |
article |
| File Description: |
electronic resource |
| Language: |
Chinese |
| ISSN: |
1001-9669 |
| Relation: |
http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2026.03.005; https://doaj.org/toc/1001-9669 |
| DOI: |
10.16579/j.issn.1001.9669.2026.03.005 |
| Access URL: |
https://doaj.org/article/3fcffdad167f4e53b25bd42537f4e616 |
| Accession Number: |
edsdoj.3fcffdad167f4e53b25bd42537f4e616 |
| Database: |
Directory of Open Access Journals |