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字数:300 满分:100分
The bifurcation characteristics and chaotic behavior of a biped passive walker with knees are studied in detail. Employing the bifurcation diagram and the corresponding Floquet multiplier diagram, we identify the period-doubling bifurcation and saddle-node bifurcation present in the phase space, and solve the unstable periodic gait produced by these bifurcations according to the Newton-Raphson algorithm.