Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F19%3A00507910" target="_blank" >RIV/67985556:_____/19:00507910 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICCA.2019.8899481" target="_blank" >http://dx.doi.org/10.1109/ICCA.2019.8899481</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICCA.2019.8899481" target="_blank" >10.1109/ICCA.2019.8899481</a>
Alternative languages
Result language
angličtina
Original language name
Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking
Original language description
The collocated virtual holonomic constraints for the planar mechanical three-link system are designed to impose the fully exact feedback linearizable constrained dynamics. The linear methods are then applicable both to generate and exponentially track the target walking-like trajectory. More specifically, for every double support phase at the beginning of the step, the mass placed on the torso can be adjusted and the specific constraint designed to ensure the above mentioned full exact feedback linearizability. Furthermore, the design of the impact invariant families of trajectories inside that constrained dynamics is provided as well. To illustrate these results the hybrid cyclic walking-like trajectory is designed and simulated.
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
20204 - Robotics and automatic control
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
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019)
ISBN
978-1-7281-1163-6
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
1289-1295
Publisher name
IEEE
Place of publication
Piscataway
Event location
Edinburg
Event date
Jul 16, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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