| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0577791 |
| utime |
20240402214707.0 |
| mtime |
20231109235959.9 |
| title
(primary) (eng) |
On a stepladder model walking (with and without a decorator) |
| specification |
| page_count |
3 s. |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0577790 |
| ISBN |
978-80-261-1177-1 |
| title
|
PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023 |
| page_num |
167-169 |
| publisher |
| place |
Plzeň |
| name |
University of West Bohemia |
| year |
2023 |
|
| editor |
| name1 |
Adámek |
| name2 |
Vítězslav |
|
| editor |
| name1 |
Jonášová |
| name2 |
Alena |
|
| editor |
| name1 |
Plánička |
| name2 |
Stanislav |
|
|
| keyword |
Underactuated biped robot models |
| keyword |
Control algorithms |
| keyword |
Legged robots |
| author
(primary) |
| ARLID |
cav_un_auth*0439966 |
| name1 |
Polach |
| name2 |
P. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0439967 |
| name1 |
Prokýšek |
| name2 |
R. |
| country |
CZ |
|
| 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) |
TŘ |
| department |
TR |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| project |
| project_id |
GA21-03689S |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0410139 |
|
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0457687 |
| name |
COMPUTATIONAL MECHANICS 2023 /38./ |
| dates |
20231023 |
| mrcbC20-s |
20231025 |
| place |
Srní |
| country |
CZ |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2024 |
| num_of_auth |
3 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
https://hdl.handle.net/11104/0346904 |
| cooperation |
| ARLID |
cav_un_auth*0457688 |
| name |
Research and Testing Institute Plzen Ltd., Tylova 1581/46, Plzeň, Czech Republic |
| country |
CZ |
|
| cooperation |
| ARLID |
cav_un_auth*0457689 |
| name |
The Department of Mechanics, Biomechanics and Mechatronics, CTU, 160 00 Prague, Czech Republic |
| country |
CZ |
|
| confidential |
S |
| arlyear |
2023 |
| mrcbU14 |
SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU56 |
konferenční příspěvek 312,12 KB |
| mrcbU63 |
cav_un_epca*0577790 PROCEEDINGS OF COMPUTATIONAL MECHANICS 2023 University of West Bohemia 2023 Plzeň 167 169 978-80-261-1177-1 |
| mrcbU67 |
Adámek Vítězslav 340 |
| mrcbU67 |
Jonášová Alena 340 |
| mrcbU67 |
Plánička Stanislav 340 |
|