Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F19%3A00507910" target="_blank" >RIV/67985556:_____/19:00507910 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ICCA.2019.8899481" target="_blank" >http://dx.doi.org/10.1109/ICCA.2019.8899481</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICCA.2019.8899481" target="_blank" >10.1109/ICCA.2019.8899481</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking

Popis výsledku v původním jazyce

The collocated virtual holonomic constraints for the planar mechanical three-link system are designed to impose the fully exact feedback linearizable constrained dynamics. The linear methods are then applicable both to generate and exponentially track the target walking-like trajectory. More specifically, for every double support phase at the beginning of the step, the mass placed on the torso can be adjusted and the specific constraint designed to ensure the above mentioned full exact feedback linearizability. Furthermore, the design of the impact invariant families of trajectories inside that constrained dynamics is provided as well. To illustrate these results the hybrid cyclic walking-like trajectory is designed and simulated.

Název v anglickém jazyce

Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking

Popis výsledku anglicky

The collocated virtual holonomic constraints for the planar mechanical three-link system are designed to impose the fully exact feedback linearizable constrained dynamics. The linear methods are then applicable both to generate and exponentially track the target walking-like trajectory. More specifically, for every double support phase at the beginning of the step, the mass placed on the torso can be adjusted and the specific constraint designed to ensure the above mentioned full exact feedback linearizability. Furthermore, the design of the impact invariant families of trajectories inside that constrained dynamics is provided as well. To illustrate these results the hybrid cyclic walking-like trajectory is designed and simulated.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA17-04682S" target="_blank" >GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení</a><br>

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019)

ISBN

978-1-7281-1163-6

ISSN

—

e-ISSN

—

Počet stran výsledku

7

Strana od-do

1289-1295

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Edinburg

Datum konání akce

16. 7. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—