Abstract
Passive walking model can exhibit natural gait on a slope， depending only on the gravity. The gait changes with the changing of parameters. The fixed point of the periodical gait can be obtained by the combination of cell mapping method and Newton-Raphson iteration. By the aid of cell mapping method，periodical cells can be used as the initial value of iteration，and the basins of attraction can be obtained. Simulations of models with different parameters show that the increasing of moment of inertia will result in the appearance of period-doubling and chaotic gaits. The same effect can be obtained by the decreasing of foot radius or position of center of mass.
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