guest ::
| Home > Conference materials > Papers > On a stepladder model walking (with and without a decorator) |
Original title:
On a stepladder model walking (with and without a decorator)
Authors: Polach, P. ; Prokýšek, R. ; Papáček, Štěpán
Document type: Papers
Conference/Event: COMPUTATIONAL MECHANICS 2023 /38./, Srní (CZ), 20231023
Year: 2023
Language: eng
Abstract: 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.
Keywords: Control algorithms; Legged robots; Underactuated biped robot models
Project no.: GA21-03689S (CEP)
Funding provider: GA ČR
Host item entry: PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023, ISBN 978-80-261-1177-1
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/papacek-0577791.pdf
Original record: https://hdl.handle.net/11104/0346904
Permalink: http://www.nusl.cz/ntk/nusl-536856
The record appears in these collections:
Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers
Authors: Polach, P. ; Prokýšek, R. ; Papáček, Štěpán
Document type: Papers
Conference/Event: COMPUTATIONAL MECHANICS 2023 /38./, Srní (CZ), 20231023
Year: 2023
Language: eng
Abstract: 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.
Keywords: Control algorithms; Legged robots; Underactuated biped robot models
Project no.: GA21-03689S (CEP)
Funding provider: GA ČR
Host item entry: PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023, ISBN 978-80-261-1177-1
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/papacek-0577791.pdf
Original record: https://hdl.handle.net/11104/0346904
Permalink: http://www.nusl.cz/ntk/nusl-536856
The record appears in these collections:
Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers
Record created 2023-11-12, last modified 2024-04-15