0572085 20240402213944.620230523235959.9 4 s. P cav_un_epca*0572084978-80-87012-84-01805-8248207-210PrahaInstitute of Thermomechanics of the Czech Academy of Sciences2023RadolfV.ZolotarevI. Mechatronics Bipedal robot Multibody dynamics Acrobot Control applications cav_un_auth*0439966 Polach P. CZ cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101236 Zezula Pavel UTIA-B Teorie řízení Department of Control Theory TŘ TR CZ Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0404313 Papáček Štěpán UTIA-B Teorie řízení Department of Control Theory TŘ TR CZ Ústav teorie informace a automatizace AV ČR, v. v. i. konferenční příspěvek http://library.utia.cas.cz/separaty/2023/TR/anderle-0572085.pdf GA21-03689S GA ČR CZ cav_un_auth*0410139 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. cav_un_auth*0450302 Engineering Mechanics 2023 /29./ 20230509 20230511 Milovy CZ BC 20000 20200 20204 2024 4 PR RVO:67985556 https://hdl.handle.net/11104/0342930 cav_un_auth*0450303 Research and Testing Institute Plzeň, Ltd. CZ S 2023 SCOPUS PUBMED WOS konferenční příspěvek cav_un_epca*0572084 ENGINEERING MECHANICS 2023 : 29th INTERNATIONAL CONFERENCE - BOOK OF FULL TEXTS Institute of Thermomechanics of the Czech Academy of Sciences 2023 Praha 207 210 978-80-87012-84-0 1805-8248 Radolf V. 340 Zolotarev I. 340