Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00493896" target="_blank" >RIV/67985556:_____/18:00493896 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.11.571" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2018.11.571</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2018.11.571" target="_blank" >10.1016/j.ifacol.2018.11.571</a>
Alternative languages
Result language
angličtina
Original language name
Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable
Original language description
Paper presents the current state of the laboratory model of the planar walking robot built in laboratory in UTIA. Moreover, it presents simulation results of the walkinglike movement of the simpli ed version - the so-called three-link, alternatively also called Acrobot with torso. Method for the walking design is based on the use of the collocated virtual holonomic constraints. Collocated constraints include the directly actuated variables only. Restricted system then conserves cyclic property of the unactuated variable and can be controlled using its three dimensional exact feedback linearization.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20201 - Electrical and electronic engineering
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
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IFAC PapersOnLine. Volume 51, Issue 22. : 12th IFAC Symposium on Robot Control SYROCO 2018
ISBN
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ISSN
2405-8963
e-ISSN
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Number of pages
8
Pages from-to
378-385
Publisher name
Elsevier
Place of publication
Amserdam
Event location
Budapešť
Event date
Aug 27, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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