Study on the external topology structure of the basin of attraction for passive walking robots on rough terrain
ZHAO Tian
BAO Yumeng
FU Hong
GAO Jianshe
LIU Qiang
Abstract：[Objective]The 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.[Methods]Firstly,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.[Results]The 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.
Keywords：Passive walkingRough terrainLimit cycleBasin of attractionExternal topology
Publication Date：2026-03-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：10( 37-46 )