0495831 20240111141008.920181102235959.9 85059199680 000454546300004 10.1016/j.ifacol.2018.12.078 7 s. P cav_un_epca*04992492405-896315-21AmsterdamElsevier2018 Hybrid systems walking robots hybrid inverted pendulum chaos cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0215855 Lynnyk Volodymyr Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. https://www.sciencedirect.com/science/article/pii/S2405896318336188 1,02 MB cav_un_auth*0347203 GA17-04682S GA ČR CZ Dynamics of the so-called hybrid inverted pendulum is studied here. Motivation is the lateral stability of the planar walking strategies applied to more realistic settings. The influence of the lateral harmonic forcing of the hybrid inverted pendulum is analyzed. It is shown numerically that reasonable sized forcing imposes the bounded oscillatory behavior. The main contribution is the detection of the possible chaotic behavior created in the above way. The extensive simulations present quite complex bounded behaviors and for some of them their largest Lyapunov exponent is shown to be positive. This supports the idea that the chaotic behavior is present there. The positive Lyapunov exponent is determined as the smallest coupling coe cient enforcing the synchronization of the simple master-slave con guration of the hybrid inverted pendulum and its copy. cav_un_auth*0366778 The 5th IFAC Conference on Analysis and Control of Chaotic Systems 20181030 20181101 Eindhoven NL BC 20000 20200 20201 2019 2 PR RVO:67985556 http://hdl.handle.net/11104/0288953 S n.a. Proceedings Paper Automation Control Systems 0.234 Q4 2018 85059199680 SCOPUS PUBMED 000454546300004 WOS 1,02 MB cav_un_epca*0499249 IFAC-PapersOnLine. Volume 51, Issue 33. : 5th IFAC Conference on Analysis and Control of Chaotic Systems CHAOS 2018 2405-8963 15 21 Amsterdam Elsevier 2018