... provide the region of stability (RoS) and the delimiting bifurcation curves (usually Hopf and pitchfork) in some parameter-spaces. In contrast, our goal is to determine the effect of parameter changes on the size of the basin of attraction (BoA) of the UP equilibrium and the amplitude of the limit cycle...

... human walking. We were able to find limit cycles that exhibited gait-like motion across a wide spectrum of model parameters. Incorporation of the roller foot ( R = 0.3 m ) reduced the magnitude of peak ground reaction forces and allowed for forward center-of-pressure progression, making the model more...