Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F16%3A00462102" target="_blank" >RIV/67985556:_____/16:00462102 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.10.264" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2016.10.264</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.10.264" target="_blank" >10.1016/j.ifacol.2016.10.264</a>

Result language
angličtina
Original language name
Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking
Original language description
The hybrid invariance of the collocated virtual holonomic constraints for general underactuated mechanical systems is studied here. The collocated virtual holonomic constraints involve directly actuated coordinates only and they preserve the kinetic symmetry and the Lagrangian character of the corresponding restricted dynamics. Their hybrid invariance can be combined with the walking design during the swing phase based on the kinetic symmetry to achieve the exponential stable multi-step walking. Results are illustrated by the case study of the planar four link mechanical chain and its walking-like movement.
Czech name
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Czech description
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Project
<a href="/en/project/GA13-20433S" target="_blank" >GA13-20433S: Analysis and control of globally decomposed strongly nonlinear state space dynamical models with complex interactions of their components</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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