Chaos and Synchronization Analysis of Semi-Passive Walking of Combined Elastic Rimless Wheels
In this paper,a combined elastic rimless wheel model is proposed,and the semi-passive walking of the combined elastic rimless wheel is realized by incorporating indirect control of periodic oscillation.The nonlinear behavior of chaos and synchronization is analyzed by observing the gait of the semi-passive walking of the combined elastic rimless wheel.Firstly,the dynamics model of the semi-passive walking of the combined elastic rimless wheel is established to enable stable periodic walking.Secondly,the stability of the limit loop is shown to be sensitive to the initial conditions by analyzing the typical gait of the semi-passive walking of the combined elastic rimless wheel.Finally,the relationship between the oscillation frequency and the system walking frequency and the phase difference between the oscillation frequency and the system walking are analyzed by observing the gait of the semi-passive walking of the combined elastic rimless wheel.Finally,by observing the semi-passive walking gait of the combined elastic rimless wheel,we analyze the relationship between the oscillation frequency and the walking frequency of the system,as well as the possible nonlinear behaviors such as synchronization and chaos between the phase difference of the two frequencies and the number of walking steps.The simulation results show that for the relationship between the oscillation frequency and the walking frequency of the system,the lighter oscillation mass and smaller oscillation amplitude lead to synchronization,and the heavier oscillation mass and larger oscillation amplitude lead to chaos.For the relationship between the phase difference of the two frequencies and the number of walking steps,the lighter oscillation mass and smaller oscillation amplitude lead to chaos.
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