0577791 20240402214707.020231109235959.9 3 s. P cav_un_epca*0577790978-80-261-1177-1167-169PlzeňUniversity of West Bohemia2023AdámekVítězslavJonášováAlenaPláničkaStanislav Underactuated biped robot models Control algorithms Legged robots cav_un_auth*0439966 Polach P. CZ cav_un_auth*0439967 Prokýšek R. CZ 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/papacek-0577791.pdf 312,12 KB GA21-03689S GA ČR CZ cav_un_auth*0410139 This work is related to our previous studies on underactuated biped robot models and has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences [1, 6, 7]. Underactuated biped robots with an upper body form a subclass of legged robots, see, e.g., [4] for a review on the control of underactuated mechanical systems and [2] for a study of an asymptotically stable walking for biped robots. It is obvious that in general, the walking control of underactuated walking robots is a more challenging problem than walking control of fully actuated walking robots. As follows, we examine the well-known mechanical system of the stepladder model with and without a decorator, whose role is substituted by an external inertial force according to the D’Alembert principle. It is well known, that stepladder walking is possible due to the periodic movement (pendulating) of an operator – decorator1 The rigorous dynamical analysis of stable cyclic walking of a class of stepladder models is presented in the next section. cav_un_auth*0457687 COMPUTATIONAL MECHANICS 2023 /38./ 20231023 20231025 Srní CZ BC 20000 20200 20205 2024 3 PR RVO:67985556 https://hdl.handle.net/11104/0346904 cav_un_auth*0457688 Research and Testing Institute Plzen Ltd., Tylova 1581/46, Plzeň, Czech Republic CZ cav_un_auth*0457689 The Department of Mechanics, Biomechanics and Mechatronics, CTU, 160 00 Prague, Czech Republic CZ S 2023 SCOPUS PUBMED WOS konferenční příspěvek 312,12 KB cav_un_epca*0577790 PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023 University of West Bohemia 2023 Plzeň 167 169 978-80-261-1177-1 Adámek Vítězslav 340 Jonášová Alena 340 Plánička Stanislav 340