On the equivalence of the three-link to the almost linear form

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F22%3A00559544" target="_blank" >RIV/67985556:_____/22:00559544 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/9905468" target="_blank" >https://ieeexplore.ieee.org/document/9905468</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/COMPENG50184.2022.9905468" target="_blank" >10.1109/COMPENG50184.2022.9905468</a>

Result language
angličtina
Original language name
On the equivalence of the three-link to the almost linear form
Original language description
The almost linear form that is state and feedback equivalent to the dynamics of the so-called three-link (aka biped with torso) is derived and proved here. This result is then applied to the walking design with downward torso movement imitating balancing role of a hand. This motivates a challenging idea: the balancing role of hands in two-dimensional walking consists in synchronizing the hand angle with the hip angle in such a way that the resulting restricted dynamics is exact feedback linearizable. Results are demonstrated by the simulations of a single step including walking animations.
Czech name
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Czech description
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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
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022
ISBN
978-1-7281-7124-1
ISSN
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e-ISSN
—
Number of pages
5
Pages from-to
9905468
Publisher name
IEEE
Place of publication
Piscataway
Event location
Florence
Event date
Jul 18, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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