Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking

0462102 - ÚTIA 2017 RIV US eng C - Konferenční příspěvek (zahraniční konf.)
Čelikovský, Sergej - Anderle, Milan
Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking.
IFAC-PapersOnLine. Volume 49, Issue 18. Monterey: IFAC, 2016, s. 802-807. ISSN 2405-8963.
[The 10th IFAC Symposium on Nonlinear Control Systems, Monterey, California USA (2016). Monterey, California (US), 23.08.2016-25.8.2016]
Grant CEP: GA ČR GA13-20433S
Institucionální podpora: RVO:67985556
Klíčová slova: Geometric Methods * Robotics * Hybrid Nonlinear Systems
Kód oboru RIV: BC - Teorie a systémy řízení

The hybrid invariance of the collocated virtual holonomic constraints for general underactuated mechanical systems is studied here. The collocated virtual holonomic constraints involve directly actuated coordinates only and they preserve the kinetic symmetry and the Lagrangian character of the corresponding restricted dynamics. Their hybrid invariance can be combined with the walking design during the swing phase based on the kinetic symmetry to achieve the exponential stable multi-step walking. Results are illustrated by the case study of the planar four link mechanical chain and its walking-like movement.
Trvalý link: http://hdl.handle.net/11104/0261928