Dora Patko

• Master of Engineering
• Technical assistant at Budapest University of Technology and Economics

To analyse walking, running or hopping motions, models with high degrees of freedom are usually used. However simple reductionist models are advantageous within certain limits. In a simple manner, the hopping motion is generally modelled by a spring-mass system, resulting in piecewise smooth dynamics with marginally stable periodic solutions. For a...

Annak ellenére, hogy a futás és szökdelés tömeg-rugó modellje (SLIP – spring-loaded inverted pendulum) nagyon széles körben alkalmazott, nem találtunk teljes térképet a stabil mozgások dimenziótlan paramétertartományaira és a vonzási tartományokra. A Buckingham-féle Pi-tétel segítségével minimálisan szükséges paraméterhalmazt vezetünk be. Feltárjuk...

The spring-loaded inverted pendulum is a widely used model of legged locomotion. However, a complete map of the dimensionless parameter regions that correspond to the stable periodic solutions cannot be found in the literature. In this work, the three-dimensional space of two dimensionless physical parameters and the dimensionless total mechanical...

For both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That...