On the hybrid inverted pendulum dynamics and its relation to the lateral stability of the walking-like mechanical systems
Result description
A simple hybrid mechanical system, tentatively called as the hybrid inverted pendulum, is studied. This study is motivated by the problem of the lateral stability of the planar walking strategies applied to a more realistic settings. Using numerical simulations, the influence of the lateral harmonic perturbations is studied as well. Some complex features indicating the possible chaotic behavior of its forced but bounded dynamics is demonstrated as well.
Keywords
The result's identifiers
Result code in IS VaVaI
Result on the web
DOI - Digital Object Identifier
Alternative languages
Result language
angličtina
Original language name
On the hybrid inverted pendulum dynamics and its relation to the lateral stability of the walking-like mechanical systems
Original language description
A simple hybrid mechanical system, tentatively called as the hybrid inverted pendulum, is studied. This study is motivated by the problem of the lateral stability of the planar walking strategies applied to a more realistic settings. Using numerical simulations, the influence of the lateral harmonic perturbations is studied as well. Some complex features indicating the possible chaotic behavior of its forced but bounded dynamics is demonstrated as well.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
GA17-04682S: Control of walking robots using collocated virtual holonomic constraints
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IFAC-PapersOnLine. Volume 51, Issue 13. : 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018
ISBN
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ISSN
2405-8963
e-ISSN
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Number of pages
6
Pages from-to
496-501
Publisher name
Elsevier
Place of publication
Amsterdam
Event location
Guadalajara
Event date
Jun 20, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000443321500083
Result type
D - Article in proceedings
OECD FORD
Automation and control systems
Year of implementation
2018