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Conference Paper (international conference)

On the hybrid inverted pendulum dynamics and its relation to the lateral stability of the walking-like mechanical systems

Čelikovský Sergej, Lynnyk Volodymyr

: IFAC-PapersOnLine. Volume 51, Issue 13. : 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018, p. 496-501

: Second IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, (Guadalajara, MX, 20180620)

: GA17-04682S, GA ČR

: Hybrid systems, walking robots, hybrid inverted pendulum, chaos

: 10.1016/j.ifacol.2018.07.328

(eng): A simple hybrid mechanical system, tentatively called as the hybrid inverted pendulum, is studied. This study is motivated by the problem of the lateral stability of the planar walking strategies applied to a more realistic settings. Using numerical simulations, the influence of the lateral harmonic perturbations is studied as well. Some complex features indicating the possible chaotic behavior of its forced but bounded dynamics is demonstrated as well.

: BC

: 20205

07.01.2019 - 08:39