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

0491009 - ÚTIA 2019 RIV MX eng C - Konferenční příspěvek (zahraniční konf.)
Čelikovský, Sergej - Lynnyk, Volodymyr
On the hybrid inverted pendulum dynamics and its relation to the lateral stability of the walking-like mechanical systems.
IFAC-PapersOnLine. Volume 51, Issue 13. : 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018. Amsterdam: Elsevier, 2018, s. 496-501. ISSN 2405-8963.
[Second IFAC Conference on Modelling, Identification and Control of Nonlinear Systems. Guadalajara (MX), 20.06.2018-22.06.2018]
Grant CEP: GA ČR(CZ) GA17-04682S
Institucionální podpora: RVO:67985556
Klíčová slova: Hybrid systems * walking robots * hybrid inverted pendulum * chaos
Obor OECD: Automation and control systems

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.
Trvalý link: http://hdl.handle.net/11104/0285103