Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00171539" target="_blank" >RIV/68407700:21230/10:00171539 - isvavai.cz</a>
Alternative codes found
RIV/67985556:_____/10:00348015
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking
Original language description
The Acrobot is the simplest walking like underactuated system which at the same time comprises all typical difficulties of the underactuated walking. In particular, efficient algorithms for the Acrobot walking may be generalized to more general walking like configurations through their special decomposition. The main contribution of this paper is to design the algorithm how to compute a cyclic walking like trajectory which is crucial to have the hybrid exponentially stable multi step tracking of this trajectory later on. Notice, that such a design is not an easy task as the walking trajectory initial conditions are changed along the single step into different end conditions and these should be subsequently mapped by the impact map into the same initialcondition for the second step. For this sake we use the special partial linearized coordinates to demonstrate their advantage for the design of the cyclic walking trajectory.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA102%2F08%2F0186" target="_blank" >GA102/08/0186: Algorithms for Complex Systems Analysis and Control Design</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2010
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 ASME 2010 Dynamic Systems and Control Conference DSCC2010
ISBN
978-0-7918-3884-6
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
American Society Of Mechanical Engineers - ASME
Place of publication
Cambridge, MA
Event location
Cambridge, MA
Event date
Sep 12, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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