On the hybrid stability of the collocated virtual holonomic constraints basedwalking design

0478921 - ÚTIA 2018 RIV RU eng J - Článek v odborném periodiku
Anderle, Milan - Čelikovský, Sergej
On the hybrid stability of the collocated virtual holonomic constraints basedwalking design.
Cybernetics and Physics. Roč. 6, č. 2 (2017), s. 47-56. ISSN 2223-7038
Grant CEP: GA ČR(CZ) GA17-04682S
Institucionální podpora: RVO:67985556
Klíčová slova: Underactuated walking * Virtual holonomic constraints * Poincaré section method * collocated constraints
Obor OECD: Automation and control systems
http://lib.physcon.ru/doc?id=60655c1961ed

This paper presents proof of the hybrid stability of the pre-designed walking like trajectory and its feedback tracking controller for the so-called four-link. The four-link is a planar mechanical chain having four degrees of freedom and three actuators placed between its links. In such a way it resembles a pair of legs with knees. The proof of hybrid stability is based on computing the appropriate Poincar´emap linear approximation and showing numerically that its eigenvalues are inside the unit disk in the complex plane. Unlike the frequent approach in robotic walking showing the stable path following, nature of our designed trajectory enables to prove its tracking including the time dependence. The tested trajectory and the feedback controller were obtained via combination of the design for the so-called Acrobot and suitable selected collocated holonomic constraints enforced by feedback imposed in knees actuators. This approach was published before but it will be briefly repeated here for the sake of completeness.
Trvalý link: http://hdl.handle.net/11104/0274968