0603742 20250114143314.720250108235959.9 4 s. E cav_un_epca*0600922978-80-261-1249-5141-144PlzeňUniversity of West Bohemia2024AdámekV.JonášováA.PláničkaS. Stepladder Underactuated system Cyclic walking Hybrid dynamical system 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. https://library.utia.cas.cz/separaty/2024/TR/papacek-0603742.pdf http://www-kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf GA21-03689S GA ČR CZ cav_un_auth*0410139 This paper presents how to model one specific, well-known underactuated mechanical system, a stepladder with an operator inducing the motion, and how to analyze the stability of its corresponding gait pattern. Conversely to Compass gait and other common bipedal robotic systems, the leg order is preserved during walking, i.e., the swing leg never overcomes the stance leg. Let us underline three key features of this planar or 2D system, enabling the overall ordered cyclic displacement, e.g., from left to right, i.e., in the positive direction of x-axis in an inertial (Cartesian) system of coordinates. cav_un_auth*0475965 Computational mechanics 2024 /39./ 20241104 20241106 Srní CZ BC 20000 20200 20205 2025 3 PR RVO:67985556 https://hdl.handle.net/11104/0361055 cav_un_auth*0442440 Research and Testing Institute Plzen Ltd. CZ cav_un_auth*0479893 The Department of Mechanics, Biomechanics and Mechatronics, CTU, Prague CZ S 2024 SCOPUS PUBMED WOS 264,70 kB cav_un_epca*0600922 PROCEEDINGS OF COMPUTATIONAL MECHANICS 2024 978-80-261-1249-5 141 144 Plzeň University of West Bohemia 2024 Adámek V. 340 Jonášová A. 340 Plánička S. 340