Original title: COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
Authors: Polach, P. ; Anderle, Milan ; Zezula, Pavel ; Papáček, Štěpán
Document type: Papers
Conference/Event: Engineering Mechanics 2023 /29./, Milovy (CZ), 20230509
Year: 2023
Language: eng
Abstract: A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool.
Keywords: Acrobot; Bipedal robot; Control applications; Mechatronics; Multibody dynamics
Project no.: GA21-03689S (CEP)
Funding provider: GA ČR
Host item entry: ENGINEERING MECHANICS 2023 : 29th INTERNATIONAL CONFERENCE - BOOK OF FULL TEXTS, ISBN 978-80-87012-84-0, ISSN 1805-8248

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at external website.
External URL: http://library.utia.cas.cz/separaty/2023/TR/anderle-0572085.pdf
Original record: https://hdl.handle.net/11104/0342930

Permalink: http://www.nusl.cz/ntk/nusl-525310


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