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COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
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SYSNO ASEP 0572085 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017) Author(s) Polach, P. (CZ)
Anderle, Milan (UTIA-B) RID, ORCID
Zezula, Pavel (UTIA-B)
Papáček, Štěpán (UTIA-B) ORCIDNumber of authors 4 Source Title 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. - ISSN 1805-8248 - ISBN 978-80-87012-84-0 Pages s. 207-210 Number of pages 4 s. Publication form Print - P Action Engineering Mechanics 2023 /29./ Event date 09.05.2023 - 11.05.2023 VEvent location Milovy Country CZ - Czech Republic Event type WRD Language eng - English Country CZ - Czech Republic Keywords Mechatronics ; Bipedal robot ; Multibody dynamics ; Acrobot ; Control applications Subject RIV BC - Control Systems Theory OECD category Robotics and automatic control R&D Projects GA21-03689S GA ČR - Czech Science Foundation (CSF) Institutional support UTIA-B - RVO:67985556 Annotation 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2024
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