Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F24%3A00588080" target="_blank" >RIV/67985556:_____/24:00588080 - isvavai.cz</a>

Result on the web

<a href="https://www.sciencedirect.com/science/article/pii/S0016003224005076?via%3Dihub" target="_blank" >https://www.sciencedirect.com/science/article/pii/S0016003224005076?via%3Dihub</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.jfranklin.2024.107086" target="_blank" >10.1016/j.jfranklin.2024.107086</a>

Result language

angličtina

Original language name

Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

Original language description

The main theoretical novelty of this paper is the state and feedback equivalence of the underactuated 4-degrees of freedom planar walking-like mechanical chain system with 3 actuators to its 8-dimensional almost linear form with 3 virtual inputs. Moreover, the only residual nonlinearity vanishes on the 4-dimensional linear subspace being forward invariant when 2 of 3 virtual inputs are set to be zero. Dynamics inside that subsystem is actually the chain of 4 integrators fed by the remaining single virtual input and it can be interpreted as a rich variety of synchronous movements of torsos and legs. In such a way, the seemingly abstract and purely theoretical result can be used to design the walking-like movement during the single-support phase. The impact effect during the impulsive-like double-support phase is then attenuated by further special trajectories tuning and finite-time stabilization technique which provides the sustainable multi-step walking design. Moreover, the target walking-like trajectory is attracted by nearby trajectories. This further justify the importance and usefulness of the mentioned state and feedback equivalence. Its viability is further demonstrated by the simulations of various scenarios of the walking-like movement and the respective torsos behaviors.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20205 - Automation and control systems

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

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of the Franklin Institute-Engineering and Applied Mathematics

ISSN

0016-0032

e-ISSN

1879-2693

Volume of the periodical

361

Issue of the periodical within the volume

1

Country of publishing house

GB - UNITED KINGDOM

Number of pages

24

Pages from-to

107086

UT code for WoS article

001285764100001

EID of the result in the Scopus database

2-s2.0-85199965719