0580540 20240801135101.020240109235959.9 10.53052/9788367652148 8 s. 338 E cav_un_epca*0580539978-83-67652-14-893-100Bielsko-BiałaWydawnictwo Naukowe Uniwersytetu Bielsko-Bialskiego2023RysińskiJacek Stepladder Walking Mathematical modelling cav_un_auth*0439966 Polach P. 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. kapitola v knize http://library.utia.cas.cz/separaty/2023/TR/papacek-0580540.pdf 190,57 KB GA21-03689S GA ČR CZ cav_un_auth*0410139 This work has been motivated by the need to implement the previously developed sensor and control algorithms for the real-time movement of the laboratory walking biped robot, designed and built at the Department of Control Theory of the Institute of Information Theory and Automation of the Czech Academy of Sciences. Consequently, our focus shifts to a comprehensive examination of models describing underactuated mechanical systems featuring legged locomotion. In this study we elucidate the process of mathematical modeling of a simple locomotion system with hybrid dynamics, we scrutinize the well-known mechanical system of the stepladder model. This analysis encompasses scenarios with and without an autonomously moving upper body, being a decorator. BC 20000 20200 20205 2024 2 RVO:67985556 https://hdl.handle.net/11104/0349301 cav_un_auth*0461165 Research and Testing Institute Plzen, Plzen, Czech Republic CZ S 2023 SCOPUS PUBMED WOS kapitola v knize 190,57 KB cav_un_epca*0580539 Projektowanie, badania i eksploatacja - 2023 : Monografia Wydawnictwo Naukowe Uniwersytetu Bielsko-Bialskiego 2023 Bielsko-Biała 93 100 978-83-67652-14-8 Monograph’2023 Rysiński Jacek 340