Virtual constraints for the underactuated walking design: comparison of two approaches
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00209148" target="_blank" >RIV/68407700:21230/13:00209148 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ASCC.2013.6606178" target="_blank" >http://dx.doi.org/10.1109/ASCC.2013.6606178</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ASCC.2013.6606178" target="_blank" >10.1109/ASCC.2013.6606178</a>
Alternative languages
Result language
angličtina
Original language name
Virtual constraints for the underactuated walking design: comparison of two approaches
Original language description
The virtual constraints method is used here to design and control the walking-like trajectory of the 4-link having 4 degrees of freedom: stance angle, 2 knees angles and 1 hip angle and 3 actuators only as the stance leg angle is not actuated. Two different approaches are compared. First, the wellknown approach consists in setting virtual constraints as the dependencies of knees and hip angles on the stance leg angle. Therefore there are 3 virtual constraints enforced by all 3 available inputs and reducing thereby overall 4 degrees of freedom to a single degree of freedom unactuated system. Selecting suitable constraints functions, various walking-like trajectories can be designed. Secondly, this three constraints approach is compared with the alternative one developed very recently. Here, only two constraints are imposed being dependencies of knees angles on the hip angle thereby reducing the 4-link to 2 degrees of freedom system with a single actuator at the hip angle.
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/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Advanced methods for complex systems analysis and control.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2013
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 9th Asian Control Conference (ASCC 2013)
ISBN
978-1-4673-5769-2
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE Control System Society
Place of publication
New York
Event location
Istanbul
Event date
Jun 23, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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