On the chaotic behavior of the hybrid inverted pendulum and its relation to the lateral dynamics of the walking robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00495831" target="_blank" >RIV/67985556:_____/18:00495831 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.12.078" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2018.12.078</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.12.078" target="_blank" >10.1016/j.ifacol.2018.12.078</a>

Result language
angličtina
Original language name
On the chaotic behavior of the hybrid inverted pendulum and its relation to the lateral dynamics of the walking robots
Original language description
Dynamics of the so-called hybrid inverted pendulum is studied here. Motivation is the lateral stability of the planar walking strategies applied to more realistic settings. The influence of the lateral harmonic forcing of the hybrid inverted pendulum is analyzed. It is shown numerically that reasonable sized forcing imposes the bounded oscillatory behavior. The main contribution is the detection of the possible chaotic behavior created in the above way. The extensive simulations present quite complex bounded behaviors and for some of them their largest Lyapunov exponent is shown to be positive. This supports the idea that the chaotic behavior is present there. The positive Lyapunov exponent is determined as the smallest coupling coe cient enforcing the synchronization of the simple master-slave con guration of the hybrid inverted pendulum and its copy.
Czech name
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Czech description
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Project
<a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IFAC-PapersOnLine. Volume 51, Issue 33. : 5th IFAC Conference on Analysis and Control of Chaotic Systems CHAOS 2018
ISBN
—
ISSN
2405-8963
e-ISSN
—
Number of pages
7
Pages from-to
15-21
Publisher name
Elsevier
Place of publication
Amsterdam
Event location
Eindhoven
Event date
Oct 30, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000454546300004

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