Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/67985556:_____/10:00348015

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

<a href="/cs/project/GA102%2F08%2F0186" target="_blank" >GA102/08/0186: Algoritmy pro analýzu a návrh řízení složitých systémů</a><br>

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2010

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

8

Strana od-do

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Název nakladatele

American Society Of Mechanical Engineers - ASME

Místo vydání

Cambridge, MA

Místo konání akce

Cambridge, MA

Datum konání akce

12. 9. 2010

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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