All

What are you looking for?

All
Projects
Results
Organizations

Quick search

  • Projects supported by TA ČR
  • Excellent projects
  • Projects with the highest public support
  • Current projects

Smart search

  • That is how I find a specific +word
  • That is how I leave the -word out of the results
  • “That is how I can find the whole phrase”

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

  • DOI - Digital Object Identifier

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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    BC - Theory and management systems

  • OECD FORD branch

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

  • e-ISSN

  • 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