| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0603742 |
| utime |
20250114143314.7 |
| mtime |
20250108235959.9 |
| title
(primary) (eng) |
On underactuated bipedal systems walking: Gait pattern modeling and analysis of a stepladder with decorator |
| specification |
| page_count |
4 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0600922 |
| ISBN |
978-80-261-1249-5 |
| title
|
PROCEEDINGS OF COMPUTATIONAL MECHANICS 2024 |
| page_num |
141-144 |
| publisher |
| place |
Plzeň |
| name |
University of West Bohemia |
| year |
2024 |
|
| editor |
|
| editor |
|
| editor |
|
|
| keyword |
Stepladder |
| keyword |
Underactuated system |
| keyword |
Cyclic walking |
| keyword |
Hybrid dynamical system |
| 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 |
|
| source |
|
| cas_special |
| project |
| project_id |
GA21-03689S |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0410139 |
|
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0475965 |
| name |
Computational mechanics 2024 /39./ |
| dates |
20241104 |
| mrcbC20-s |
20241106 |
| place |
Srní |
| country |
CZ |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2025 |
| num_of_auth |
3 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
https://hdl.handle.net/11104/0361055 |
| cooperation |
| ARLID |
cav_un_auth*0442440 |
| name |
Research and Testing Institute Plzen Ltd. |
| country |
CZ |
|
| cooperation |
| ARLID |
cav_un_auth*0479893 |
| name |
The Department of Mechanics, Biomechanics and Mechatronics, CTU, Prague |
| country |
CZ |
|
| confidential |
S |
| arlyear |
2024 |
| mrcbU14 |
SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU56 |
264,70 kB |
| mrcbU63 |
cav_un_epca*0600922 PROCEEDINGS OF COMPUTATIONAL MECHANICS 2024 978-80-261-1249-5 141 144 Plzeň University of West Bohemia 2024 |
| mrcbU67 |
Adámek V. 340 |
| mrcbU67 |
Jonášová A. 340 |
| mrcbU67 |
Plánička S. 340 |
|