Research Article
An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker
Table 2
Comparison between SCM method and MICM method for estimating the DOA of SPBW.
| | Method | Number of Poincare mappings | Number of cells in DOA | Percent of decreasing Poincare mappings | Percent of missing cells | Time[s] | Speed up |
| | SCM method | 164836 | 5162 | - | - | 530.72 | - | | MICM method without boundary refinement | 26267 | 5127 | 84.06% | 0.68% | 89.03 | 5.96× | | MICM method with boundary refinement | 30471 | 5156 | 81.51% | 0.15% | 103.25 | 5.14× |
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