| bibtype |
A -
Abstract
|
| ARLID |
0643528 |
| utime |
20251218143050.4 |
| mtime |
20251218235959.9 |
| title
(primary) (eng) |
Modeling and Experiments on Stable Stepladder Walking |
| specification |
| page_count |
1 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0643527 |
| ISBN |
978-3-200-10587-4 |
| title
|
BOOK OF ABSTRACTS - Multibody Dynamics 2025 - 12th ECCOMAS Thematic Conference on Multibody Dynamics |
| page_num |
85-85 |
| publisher |
| place |
Innsbruck |
| name |
Universitat Innsbruck |
| year |
2025 |
|
| editor |
| name1 |
Gerstmayr |
| name2 |
Johannes |
|
| editor |
|
| editor |
| name1 |
Pieber |
| name2 |
Michael |
|
| editor |
| name1 |
Zwolfer |
| name2 |
Andreas |
|
|
| keyword |
Bipedal walking |
| keyword |
Hybrid mechanical systems |
| keyword |
Multibody dynamics |
| keyword |
Upper body |
| author
(primary) |
| ARLID |
cav_un_auth*0439966 |
| name1 |
Polach |
| name2 |
P. |
| 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. |
|
| 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) |
TŘ |
| department |
TR |
| full_dept |
Department of Control Theory |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| abstract
(eng) |
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 |
| action |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2026 |
| num_of_auth |
3 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
https://hdl.handle.net/11104/0373388 |
| cooperation |
| ARLID |
cav_un_auth*0499693 |
| name |
Research and Testing Institute Plzen, Czech Republic |
| country |
CZ |
|
| cooperation |
| ARLID |
cav_un_auth*0499694 |
| name |
Faculty of Mechanical Engineering, Czech Technical University in Prague, Czech Republic |
| country |
CZ |
|
| confidential |
S |
| arlyear |
2025 |
| mrcbU14 |
SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU63 |
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 |
| mrcbU67 |
Gerstmayr Johannes 340 |
| mrcbU67 |
Manzl Peter 340 |
| mrcbU67 |
Pieber Michael 340 |
| mrcbU67 |
Zwolfer Andreas 340 |
|