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On a stepladder model walking (with and without a decorator)

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F23%3A00577791" target="_blank" >RIV/67985556:_____/23:00577791 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    On a stepladder model walking (with and without a decorator)

  • Original language description

    This work is related to our previous studies on underactuated biped robot models and has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences [1, 6, 7]. Underactuated biped robots with an upper body form a subclass of legged robots, see, e.g., [4] for a review on the control of underactuated mechanical systems and [2] for a study of an asymptotically stable walking for biped robots. It is obvious that in general, the walking control of underactuated walking robots is a more challenging problem than walking control of fully actuated walking robots. As follows, we examine the well-known mechanical system of the stepladder model with and without a decorator, whose role is substituted by an external inertial force according to the D’Alembert principle. It is well known, that stepladder walking is possible due to the periodic movement (pendulating) of an operator – decorator1 The rigorous dynamical analysis of stable cyclic walking of a class of stepladder models is presented in the next section.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20205 - Automation and control systems

Result continuities

  • Project

    <a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>

  • Continuities

    I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Others

  • Publication year

    2023

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023

  • ISBN

    978-80-261-1177-1

  • ISSN

  • e-ISSN

  • Number of pages

    3

  • Pages from-to

    167-169

  • Publisher name

    University of West Bohemia

  • Place of publication

    Plzeň

  • Event location

    Srní

  • Event date

    Oct 23, 2023

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article