One of the new results which we have obtained in the recent past is to show that although the input is deterministic the output need not be predictable after a certain length of time. In other words, the output, although staying bounded, is no longer predictable. And these are what we call chaotic motions. Chaotic motions have been known in many non-linear systems, but perhaps for the first time we will show by simulation that it can be also seen in robots which are also non-linear systems.
