Název: On a stepladder model walking (with and without a decorator)
Autoři: Polach, P. ; Prokýšek, R. ; Papáček, Štěpán
Typ dokumentu: Příspěvky z konference
Konference/Akce: COMPUTATIONAL MECHANICS 2023 /38./, Srní (CZ), 20231023
Rok: 2023
Jazyk: eng
Abstrakt: 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.
Klíčová slova: Control algorithms; Legged robots; Underactuated biped robot models
Číslo projektu: GA21-03689S (CEP)
Poskytovatel projektu: GA ČR
Zdrojový dokument: PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023, ISBN 978-80-261-1177-1

Instituce: Ústav teorie informace a automatizace AV ČR (web)
Informace o dostupnosti dokumentu: Dokument je dostupný na externích webových stránkách.
Externí umístění souboru: http://library.utia.cas.cz/separaty/2023/TR/papacek-0577791.pdf
Původní záznam: https://hdl.handle.net/11104/0346904

Trvalý odkaz NUŠL: http://www.nusl.cz/ntk/nusl-536856


Záznam je zařazen do těchto sbírek:
Věda a výzkum > AV ČR > Ústav teorie informace a automatizace
Konferenční materiály > Příspěvky z konference