Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F17%3A00483500" target="_blank" >RIV/67985556:_____/17:00483500 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ASCC.2017.8287165" target="_blank" >http://dx.doi.org/10.1109/ASCC.2017.8287165</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ASCC.2017.8287165" target="_blank" >10.1109/ASCC.2017.8287165</a>

Result language
angličtina
Original language name
Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking
Original language description
Hamiltonian representation of the so-called collocated virtual holonomic constraints is studied here to provide an alternative algorithm to enforce these constraints by feedback. Its efficiency is demonstrated by the walking design for the planar underactuated mechanical four-link chain.
Czech name
—
Czech description
—

Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 11th Asian Control Converence (ASCC) 2017
ISBN
978-1-5090-1572-6
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
192-197
Publisher name
IEEE
Place of publication
Piscataway
Event location
Gold Coast
Event date
Dec 17, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000426957300033

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