Publication details
Conference Paper (international conference)
On underactuated bipedal systems walking: Gait pattern modeling and analysis of a stepladder with decorator
, ,
: PROCEEDINGS OF COMPUTATIONAL MECHANICS 2024, p. 141-144 , Eds: Adámek V., Jonášová A., Plánička S.
: Computational mechanics 2024 /39./, (Srní, CZ, 20241104)
: GA21-03689S, GA ČR
: Stepladder, Underactuated system, Cyclic walking, Hybrid dynamical system
: https://library.utia.cas.cz/separaty/2024/TR/papacek-0603742.pdf
: http://www-kme.zcu.cz/download/proceedings/CM2024_Conference_Proceedings.pdf
(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.
: BC
: 20205