Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F13%3A00394321" target="_blank" >RIV/67985556:_____/13:00394321 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design
Original language description
The Acrobot is the well-known and widely studied underactuated mechanical system having two links and one actuated joint between them. It may be also viewed as the simplest possible walking like mechanism without knees and the ankle-joint actuation, alternatively also referred to as the underactuated Compass gait walker. To extend techniques used to control the Acrobot to a more general underactuated n-link having an unactuated cyclic variable, this paper defines the socalled generalized Acrobot. Further, it is shown that for every set of virtual constraints there exists a generalized Acrobot that is linearly embedded into this n-link. Based on this property and results valid for the Acrobot, walking strategies for the n-link are provided. Important achievement here is that the exponentially stable tracking during the swing phase only is possible, i.e. the stabilizing effect of the impact map is not needed. Computer simulations of the 4-link case are provided.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Advanced methods for complex systems analysis and control.</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the European Control Conference 2013 (ECC)
ISBN
978-3-9524173-4-8
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
682-689
Publisher name
IEEE
Place of publication
Curich
Event location
Curich
Event date
Jul 17, 2013
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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