Engineering Mechanics

Proceedings Vol. 29 (2023)

ENGINEERING MECHANICS 2023

Copyright © 2023 Institute of Thermomechanics of the Czech Academy of Sciences, Prague

 

Polach P., Anderle M., Zezula P., Papáček Š.
pages 207 - 210, full text

A key feature for bipedal walkers (robots and humans as well) is their stability or disturbance rejection defined as the ability to deal with unexpected disturbances. The paper by Griffin and Grizzle (2017) have significantly contributed to the shift from flat ground to slopes and steps when evaluating the walking efficiency of their robots. Similarly, in this contribution, based on the appropriate model of robot dynamics and control law, we examine the stability of walking-without-falling for different ground perturbations for a threelink compass gait walker. I.e., we perform the sensitivity analysis of the walking stability of underactuated bipedal walker with respect to certain disturbation using the alaska/MultibodyDynamics simulation tool.

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