ON A STEPLADDER CYCLIC WALKING: STRUCTURE AND PARAMETERS IDENTIFICATION OF AN UNDERACTUATED HYBRID STATE MODEL

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F23%3A00580540" target="_blank" >RIV/67985556:_____/23:00580540 - isvavai.cz</a>
Alternative codes found
RIV/47718684:_____/23:10001578
Result on the web
<a href="http://dx.doi.org/10.53052/9788367652148" target="_blank" >http://dx.doi.org/10.53052/9788367652148</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.53052/9788367652148" target="_blank" >10.53052/9788367652148</a>

Result language
angličtina
Original language name
ON A STEPLADDER CYCLIC WALKING: STRUCTURE AND PARAMETERS IDENTIFICATION OF AN UNDERACTUATED HYBRID STATE MODEL
Original language description
This work has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking biped robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences. Consequently, our focus shifts to a comprehensive examination of models describing underactuated mechanical systems featuring legged locomotion. In this study we elucidate the process of mathematical modeling of a simple locomotion system with hybrid dynamics, we scrutinize the well-known mechanical system ofnthe stepladder model. This analysis encompasses scenarios with and without an autonomously moving upper body, being a decorator.
Czech name
—
Czech description
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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

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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