n  Acta Phys. Sin. Vol. 61, No.

4 (2012) 040503

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c 2012 In Chinese Physical Society

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 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

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 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

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 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

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 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

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 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

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040503-6

 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

X k O\, dnmu)
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[1] Winter D 1991 Biomechanics and Motor Control of Human Movement (2nd ed) (New York: Wiley)
[2] McGeer T 1990 I. J. Robotic Res. 9 62
[3] Garcia M, Chatterjee A, Ruina A, Coleman M 1998 J. Biomech.
Eng. 120 281
[4] Goswami A, Thuilot B, Espiau B 1998 I. J. Robotic Res. 17 1282
[5] Schwab A, Wisse M 2001 Basin of attraction of the simplest walking model. In: International Conference on Noise and Vibration,
(Pennsylvania: ASME)
[6] Liu N, Li J F, Wang T S 2008 Mechanics in Engineering 30 18 (in

Chinese)[7w, od, U 2009 30 18]

[7] Liu N, Li J F, Wang T S 2009 Acta Phys. Sin. 58 3772 (in Chinese)[7w, od, U 2009 n 58 3772]
[8] Hong L 2010 Chin. Phys. B 19 030513
[9] Kirk D, Hwu W M 2010 Programming Massively Parallel Processors (Burlington: Elsevier)
[10] Munshi A 2010 The OpenCL Specification Version 1.1. (Khronos
OpenCL Working Group)
[11] Li Q, Tan Y, Yang F 2011 Acta Phys. Sin. 60 030206 (in Chinese)[o, , 2011 n60 030206]

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 n  Acta Phys. Sin. Vol. 61, No. 4 (2012) 040503

A study of basin of attraction of the simplest walking

model based on heterogeneous computation
Li Qing-Du1)3) Zhou Hong-Wei1) Yang Xiao-Song2)3)
1) ( Key Laboratory of Network Control & Intelligent Instrument of Ministry of Education, Chongqing University of Posts and Telecommunications,
Chongqing 400065, China )
2) ( School of Mathematics and Statistics, Huazhong University of Science and Technology, Wuhan 430074, China )
3) ( Institute for Nonlinear Circuits and Systems, Chongqing University Posts and Telecommunications, Chongqing 400065, China )
( Received 22 October 2010; revised manuscript received 15 June 2011 )

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.

Keywords: Poincare map, passive dynamic walking, bipeds, chaos

PACS: 05.45.a, 45.40.Ln

* Project supported by the National Natural Science Foundation of China (Grant Nos. 61104150, 10972082), the Natural Science Foundation
Project of CQ CSTC (Grant No. cstcjjA40044), and the Independent Innovation Foundation of HUST(Grant No. 011906).
E-mail: ql78@cornell.edu

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