An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker

Figure 7

The processes of estimating the DOA of SPBW by the MICM method with boundary refinement. (a) The boundary cells in the stable DOF; (b) approximate DOC and stable DOF; (c) initial DOA and initial DOC; (d) the stable DOA and its corresponding DOC.

(a)

(b)

(c)

(d)