Projektowanie, badania i eksploatacja - 2023 : Monografia

0580540 - ÚTIA 2024 RIV PL eng M - Část monografie knihy
Polach, P. - Papáček, Štěpán
ON A STEPLADDER CYCLIC WALKING: STRUCTURE AND PARAMETERS IDENTIFICATION OF AN UNDERACTUATED HYBRID STATE MODEL.
Projektowanie, badania i eksploatacja - 2023 : Monografia. Bielsko-Biała: Wydawnictwo Naukowe Uniwersytetu Bielsko-Bialskiego, 2023 - (Rysiński, J.), s. 93-100. Monograph’2023. ISBN 978-83-67652-14-8
Grant CEP: GA ČR(CZ) GA21-03689S
Institucionální podpora: RVO:67985556
Klíčová slova: Stepladder * Walking * Mathematical modelling
Obor OECD: Automation and control systems
http://library.utia.cas.cz/separaty/2023/TR/papacek-0580540.pdf

This work has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking biped robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences. Consequently, our focus shifts to a comprehensive examination of models describing underactuated mechanical systems featuring legged locomotion. In this study we elucidate the process of mathematical modeling of a simple locomotion system with hybrid dynamics, we scrutinize the well-known mechanical system of
the stepladder model. This analysis encompasses scenarios with and without an autonomously moving upper body, being a decorator.
Trvalý link: https://hdl.handle.net/11104/0349301