物理学报2012，Vol.61Issue(4)：14-21,8.
基于异构计算的简单行走模型的吸引区域研究
A study of basin of attraction of the simplest walking model based on heterogeneous computation
摘要
Abstract
Passive dynamic walking becomes an important development for walking robots due to its simple structure and high energy efficiency,but it often falls.The key to this problem is to ascertain its stable gaits and basins of attraction.In order to handle the discontinuity,massive numerical computation is unavoidable.In this paper,we first propose an algorithm to compute Poincare maps in heterogeneous platforms with CPU and GPU,which can take the best performance of the newest heterogeneous platforms and improve the computing speed by more than a hundred times.With this algorithm,we study the simplest walking model by sampling massive points from the state space.We obtain high resolution images of the basin of attraction,and reveal its fractal structure.By computing the relation between the stable gaits and their basins and by varying the slop k,we find a new three-period stable gait and a period-doubling route to chaos,and we also study the new gait and its basin.关键词
Poincare映射/被动行走/双足机器人/混沌Key words
Poincare map/passive dynamic walking/bipeds/chaos分类
信息技术与安全科学引用本文复制引用
李清都,周红伟,杨晓松..基于异构计算的简单行走模型的吸引区域研究[J].物理学报,2012,61(4):14-21,8.基金项目
国家自然科学基金 （）
重庆市科委项目 （）
华中科技大学自主创新基金（批准号：011906）资助的课题 （）
