Original title: On underactuated bipedal systems walking: Gait pattern modeling and analysis of a stepladder with decorator
Authors: Polach, P. ; Prokýšek, R. ; Papáček, Štěpán
Document type: Papers
Conference/Event: Computational mechanics 2024 /39./, Srní (CZ), 20241104
Year: 2024
Language: eng
Abstract: 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.
Keywords: Cyclic walking; Hybrid dynamical system; Stepladder; Underactuated system
Project no.: GA21-03689S (CEP)
Funding provider: GA ČR
Host item entry: PROCEEDINGS OF COMPUTATIONAL MECHANICS 2024, ISBN 978-80-261-1249-5

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at external website.
External URL: https://library.utia.cas.cz/separaty/2024/TR/papacek-0603742.pdf
Original record: https://hdl.handle.net/11104/0361055

Permalink: http://www.nusl.cz/ntk/nusl-668991


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