COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)

0572085 - ÚTIA 2024 RIV CZ eng C - Conference Paper (international conference)
Polach, P. - Anderle, Milan - Zezula, Pavel - Papáček, Štěpán
COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017).
ENGINEERING MECHANICS 2023 : 29th INTERNATIONAL CONFERENCE - BOOK OF FULL TEXTS. Praha: Institute of Thermomechanics of the Czech Academy of Sciences, 2023 - (Radolf, V.; Zolotarev, I.), s. 207-210. ISBN 978-80-87012-84-0. ISSN 1805-8248.
[Engineering Mechanics 2023 /29./. Milovy (CZ), 09.05.2023-11.05.2023]
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : Mechatronics * Bipedal robot * Multibody dynamics * Acrobot * Control applications
OECD category: Robotics and automatic control
http://library.utia.cas.cz/separaty/2023/TR/anderle-0572085.pdf

A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool.
Permanent Link: https://hdl.handle.net/11104/0342930