Chain of four integrators as a possible essence of the under-actuated planar walking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F21%3A00545899" target="_blank" >RIV/67985556:_____/21:00545899 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2021.10.329" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2021.10.329</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2021.10.329" target="_blank" >10.1016/j.ifacol.2021.10.329</a>
Alternative languages
Result language
angličtina
Original language name
Chain of four integrators as a possible essence of the under-actuated planar walking
Original language description
This paper continues the previously published research showing that for the three-link there always exist collocated virtual holonomic constraints for the torso and mechanical parameters readjustment such that the resulting restricted dynamics is state and feedback equivalent to the chain of four integrators. In such a way, the role of the torso in walking patterns design achieves nice and clear control-theoretic interpretation. To underline a potential of that interesting feature, a thorough numerical optimization based design of suitable trajectories for the integrator chains is performed in this paper. Successful solution is then used to design hybrid stable multi-step walking for the three-link demonstrated by the simulations as well.
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
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
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 54, Issue 14 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021
ISBN
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ISSN
2405-8963
e-ISSN
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Number of pages
6
Pages from-to
60-65
Publisher name
Elsevier
Place of publication
Amsterdam
Event location
Tokyo
Event date
Sep 15, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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