0643528 20251218143050.420251218235959.9 1 s. E cav_un_epca*0643527978-3-200-10587-485-85InnsbruckUniversitat Innsbruck2025GerstmayrJohannesManzlPeterPieberMichaelZwolferAndreas Bipedal walking Hybrid mechanical systems Multibody dynamics Upper body 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. 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. https://library.utia.cas.cz/separaty/2025/TR/papacek-0643528.pdf Modeling and control of underactuated mechanical systems, such as bipedal robots, remains a challenging task despite decades of intensive research. This study examines a less common but conceptually similar mechanical system: a stepladder with a decorator/operator. The system featuresnonlinear, high-dimensional, and hybrid dynamics. The primary objective is to identify the stablecyclic walking behavior of the stepladder induced by specific actuation patterns of the decorator.To achieve this, we first establish a detailed 3D model of the system with time-dependent actuation parameters derived from a video sequence. Subsequently, we develop multiple variants of 2Dreduced-order models (ROMs) to capture the system’s essential dynamics. The parameters of theseROMs are identified by solving an inverse problem using data extracted through image-processingsoftware. Finally, a suitable ROM is selected to approximate the system dynamics and synthesize a stable cyclic walking motion in some sense optimal cav_un_auth*0499692 Multibody Dynamics 2025 - 12th ECCOMAS Thematic Conference on Multibody Dynamics 20250713 20250718 Innsbruck https://www.uibk.ac.at/en/congress/multibody2025/ AT BC 20000 20200 20205 2026 3 PR RVO:67985556 https://hdl.handle.net/11104/0373388 cav_un_auth*0499693 Research and Testing Institute Plzen, Czech Republic CZ cav_un_auth*0499694 Faculty of Mechanical Engineering, Czech Technical University in Prague, Czech Republic CZ S 2025 SCOPUS PUBMED WOS cav_un_epca*0643527 BOOK OF ABSTRACTS - Multibody Dynamics 2025 - 12th ECCOMAS Thematic Conference on Multibody Dynamics Universitat Innsbruck 2025 Innsbruck 85 85 978-3-200-10587-4 Gerstmayr Johannes 340 Manzl Peter 340 Pieber Michael 340 Zwolfer Andreas 340