On underactuated bipedal systems walking: Gait pattern modeling and analysis of a stepladder with decorator

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F24%3A00603742" target="_blank" >RIV/67985556:_____/24:00603742 - isvavai.cz</a>
Result on the web
<a href="http://www-kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf" target="_blank" >http://www-kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
On underactuated bipedal systems walking: Gait pattern modeling and analysis of a stepladder with decorator
Original language description
This paper presents how to model one specific, well-known underactuated mechanical system, a stepladder with an operator inducing the motion, and how to analyze the stability of its corresponding gait pattern. Conversely to Compass gait and other common bipedal robotic systems, the leg order is preserved during walking, i.e., the swing leg never overcomes the stance leg. Let us underline three key features of this planar or 2D system, enabling the overall ordered cyclic displacement, e.g., from left to right, i.e., in the positive direction of x-axis in an inertial (Cartesian) system of coordinates.
Czech name
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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
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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