bibtype C - Conference Paper (international conference)
ARLID 0572085
utime 20240402213944.6
mtime 20230523235959.9
title (primary) (eng) COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017)
specification
page_count 4 s.
media_type P
serial
ARLID cav_un_epca*0572084
ISBN 978-80-87012-84-0
ISSN 1805-8248
title ENGINEERING MECHANICS 2023 : 29th INTERNATIONAL CONFERENCE - BOOK OF FULL TEXTS
page_num 207-210
publisher
place Praha
name Institute of Thermomechanics of the Czech Academy of Sciences
year 2023
editor
name1 Radolf
name2 V.
editor
name1 Zolotarev
name2 I.
keyword Mechatronics
keyword Bipedal robot
keyword Multibody dynamics
keyword Acrobot
keyword Control applications
author (primary)
ARLID cav_un_auth*0439966
name1 Polach
name2 P.
country CZ
author
ARLID cav_un_auth*0252057
name1 Anderle
name2 Milan
institution UTIA-B
full_dept (cz) Teorie řízení
full_dept Department of Control Theory
department (cz)
department TR
full_dept Department of Control Theory
country CZ
fullinstit Ústav teorie informace a automatizace AV ČR, v. v. i.
author
ARLID cav_un_auth*0101236
name1 Zezula
name2 Pavel
institution UTIA-B
full_dept (cz) Teorie řízení
full_dept Department of Control Theory
department (cz)
department TR
country CZ
fullinstit Ústav teorie informace a automatizace AV ČR, v. v. i.
author
ARLID cav_un_auth*0404313
name1 Papáček
name2 Štěpán
institution UTIA-B
full_dept (cz) Teorie řízení
full_dept Department of Control Theory
department (cz)
department TR
country CZ
fullinstit Ústav teorie informace a automatizace AV ČR, v. v. i.
source
source_type konferenční příspěvek
url http://library.utia.cas.cz/separaty/2023/TR/anderle-0572085.pdf
cas_special
project
project_id GA21-03689S
agency GA ČR
country CZ
ARLID cav_un_auth*0410139
abstract (eng) 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.
action
ARLID cav_un_auth*0450302
name Engineering Mechanics 2023 /29./
dates 20230509
mrcbC20-s 20230511
place Milovy
country CZ
RIV BC
FORD0 20000
FORD1 20200
FORD2 20204
reportyear 2024
num_of_auth 4
presentation_type PR
inst_support RVO:67985556
permalink https://hdl.handle.net/11104/0342930
cooperation
ARLID cav_un_auth*0450303
name Research and Testing Institute Plzeň, Ltd.
country CZ
confidential S
arlyear 2023
mrcbU14 SCOPUS
mrcbU24 PUBMED
mrcbU34 WOS
mrcbU56 konferenční příspěvek
mrcbU63 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
mrcbU67 Radolf V. 340
mrcbU67 Zolotarev I. 340