On the hybrid stability of the collocated virtual holonomic constraints basedwalking design

Kód výsledku v IS VaVaI

RIV/67985556:_____/17:00478921 - isvavai.cz

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

On the hybrid stability of the collocated virtual holonomic constraints basedwalking design

Popis výsledku v původním jazyce

This paper presents proof of the hybrid stability of the pre-designed walking like trajectory and its feedback tracking controller for the so-called four-link. The four-link is a planar mechanical chain having four degrees of freedom and three actuators placed between its links. In such a way it resembles a pair of legs with knees. The proof of hybrid stability is based on computing the appropriate Poincar´emap linear approximation and showing numerically that its eigenvalues are inside the unit disk in the complex plane. Unlike the frequent approach in robotic walking showing the stable path following, nature of our designed trajectory enables to prove its tracking including the time dependence. The tested trajectory and the feedback controller were obtained via combination of the design for the so-called Acrobot and suitable selected collocated holonomic constraints enforced by feedback imposed in knees actuators. This approach was published before but it will be briefly repeated here for the sake of completeness.

Název v anglickém jazyce

On the hybrid stability of the collocated virtual holonomic constraints basedwalking design

Popis výsledku anglicky

This paper presents proof of the hybrid stability of the pre-designed walking like trajectory and its feedback tracking controller for the so-called four-link. The four-link is a planar mechanical chain having four degrees of freedom and three actuators placed between its links. In such a way it resembles a pair of legs with knees. The proof of hybrid stability is based on computing the appropriate Poincar´emap linear approximation and showing numerically that its eigenvalues are inside the unit disk in the complex plane. Unlike the frequent approach in robotic walking showing the stable path following, nature of our designed trajectory enables to prove its tracking including the time dependence. The tested trajectory and the feedback controller were obtained via combination of the design for the so-called Acrobot and suitable selected collocated holonomic constraints enforced by feedback imposed in knees actuators. This approach was published before but it will be briefly repeated here for the sake of completeness.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

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OECD FORD obor

20205 - Automation and control systems

Projekt

GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název periodika

Cybernetics and Physics

ISSN

2223-7038

e-ISSN

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Svazek periodika

6

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

RU - Ruská federace

Počet stran výsledku

10

Strana od-do

47-56

Kód UT WoS článku

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EID výsledku v databázi Scopus

2-s2.0-85039736370