On the collocated virtual holonomic constraints in Lagrangian systems

0460762 - ÚTIA 2017 RIV US eng C - Konferenční příspěvek (zahraniční konf.)
Čelikovský, Sergej - Anderle, Milan
On the collocated virtual holonomic constraints in Lagrangian systems.
Proceedings of the American Control Conference (ACC), 2016. Vol. CFP16ACC-USB. Boston: IEEE, 2016, s. 6030-6035. ISBN 978-1-4673-8681-4.
[The American Control Conference (ACC) 2016. Boston (US), 06.07.2016-08.07.2016]
Grant CEP: GA ČR GA13-20433S
Institucionální podpora: RVO:67985556
Klíčová slova: Virtual Holonomic Constraints * Underactuated Walking Robots * Hybrid Nonlinear Systems
Kód oboru RIV: BC - Teorie a systémy řízení

In this paper, the collocated virtual holonomic constraints are introduced in the coordinate free manner and their flat coordinates representation is derived. Flat coordinates are those where the virtual holonomic constraints are given by a subset of coordinates components put to be zero. The flat coordinates representation enables a clear description of both the constraint system and the feedback imposing it. Results are illustrated by swinging up the mechanical four link chain. Possible outlooks for walking design are discussed as well.
Trvalý link: http://hdl.handle.net/11104/0260949