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
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DOI - Digital Object Identifier
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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
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Czech description
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Classification
Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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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
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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
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EID of the result in the Scopus database
2-s2.0-85039736370