On a stepladder model walking (with and without a decorator)

0577791 - ÚTIA 2024 RIV CZ eng C - Konferenční příspěvek (zahraniční konf.)
Polach, P. - Prokýšek, R. - Papáček, Štěpán
On a stepladder model walking (with and without a decorator).
PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023. Plzeň: University of West Bohemia, 2023 - (Adámek, V.; Jonášová, A.; Plánička, S.), s. 167-169. ISBN 978-80-261-1177-1.
[COMPUTATIONAL MECHANICS 2023 /38./. Srní (CZ), 23.10.2023-25.10.2023]
Grant CEP: GA ČR(CZ) GA21-03689S
Institucionální podpora: RVO:67985556
Klíčová slova: Underactuated biped robot models * Control algorithms * Legged robots
Obor OECD: Automation and control systems
http://library.utia.cas.cz/separaty/2023/TR/papacek-0577791.pdf

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.
Trvalý link: https://hdl.handle.net/11104/0346904