Biped Example Results

with perturbation (w=0.0001)

when \(\varepsilon=0.01\) and \(\tau =2\cdot 10^{-5}\)

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    • .
  • Oscillation
    • .
  • Limit cycle
    • .
  • Lambda
    • .
  • Delta
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Simutation of \({\phi_1}(t)\)

over 5 periods

With perturbation (w=0.0001).

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Simutation of \(\overset{.}{\phi_1}(t)\)

over 5 periods

With perturbation (w=0.0001).

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Simutation of \({\phi_2}(t)\)

over 5 periods

With perturbation (w=0.0001).

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Simutation of \(\overset{.}{\phi_2}(t)\)

over 5 periods

With perturbation (w=0.0001).

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Limit cycle in the phase plane \(\overset{.}{\phi_1}({\phi_1}(t))\)

With perturbation (w=0.0001).

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Limit cycle in the phase plane \(\overset{.}{\phi_2}({\phi_2}(t))\)

With perturbation (w=0.0001).

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\(\lambda(t)\)

over 5 periods.

Image5
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\(\delta(t)\)

over 5 periods

With perturbation (w=0.0001).

Image6