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On the hybrid stability of the collocated virtual holonomic constraints basedwalking design

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F17%3A00478921" target="_blank" >RIV/67985556:_____/17:00478921 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    On the hybrid stability of the collocated virtual holonomic constraints basedwalking design

  • Original language description

    This paper presents proof of the hybrid stability of the pre-designed walking like trajectory and its feedback tracking controller for the so-called four-link. The four-link is a planar mechanical chain having four degrees of freedom and three actuators placed between its links. In such a way it resembles a pair of legs with knees. The proof of hybrid stability is based on computing the appropriate Poincar´emap linear approximation and showing numerically that its eigenvalues are inside the unit disk in the complex plane. Unlike the frequent approach in robotic walking showing the stable path following, nature of our designed trajectory enables to prove its tracking including the time dependence. The tested trajectory and the feedback controller were obtained via combination of the design for the so-called Acrobot and suitable selected collocated holonomic constraints enforced by feedback imposed in knees actuators. This approach was published before but it will be briefly repeated here for the sake of completeness.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database

  • CEP classification

  • OECD FORD branch

    20205 - Automation and control systems

Result continuities

  • Project

    <a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    Cybernetics and Physics

  • ISSN

    2223-7038

  • e-ISSN

  • Volume of the periodical

    6

  • Issue of the periodical within the volume

    2

  • Country of publishing house

    RU - RUSSIAN FEDERATION

  • Number of pages

    10

  • Pages from-to

    47-56

  • UT code for WoS article

  • EID of the result in the Scopus database

    2-s2.0-85039736370