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On the hybrid inverted pendulum dynamics and its relation to the lateral stability of the walking-like mechanical systems
- 1.0491009 - ÚTIA 2019 RIV MX eng C - Conference Paper (international conference)
Čelikovský, Sergej - Lynnyk, Volodymyr
On the hybrid inverted pendulum dynamics and its relation to the lateral stability of the walking-like mechanical systems.
IFAC-PapersOnLine. Volume 51, Issue 13. : 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018. Amsterdam: Elsevier, 2018, s. 496-501. ISSN 2405-8963.
[Second IFAC Conference on Modelling, Identification and Control of Nonlinear Systems. Guadalajara (MX), 20.06.2018-22.06.2018]
R&D Projects: GA ČR(CZ) GA17-04682S
Institutional support: RVO:67985556
Keywords : Hybrid systems * walking robots * hybrid inverted pendulum * chaos
OECD category: Automation and control systems
A simple hybrid mechanical system, tentatively called as the hybrid inverted pendulum, is studied. This study is motivated by the problem of the lateral stability of the planar walking strategies applied to a more realistic settings. Using numerical simulations, the influence of the lateral harmonic perturbations is studied as well. Some complex features indicating the possible chaotic behavior of its forced but bounded dynamics is demonstrated as well.
Permanent Link: http://hdl.handle.net/11104/0285103
Number of the records: 1