Virtual constraints for the underactuated walking design: comparison of two approaches

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Virtual constraints for the underactuated walking design: comparison of two approaches

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Virtual constraints for the underactuated walking design: comparison of two approaches

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

<a href="/cs/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Pokročilé metody pro analýzu a řízení složitých systémů.</a><br>

Návaznosti

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

Rok uplatnění

2013

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

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Název nakladatele

IEEE Control System Society

Místo vydání

New York

Místo konání akce

Istanbul

Datum konání akce

23. 6. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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