Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking

0483500 - ÚTIA 2018 RIV AU eng C - Konferenční příspěvek (zahraniční konf.)
Čelikovský, Sergej - Anderle, Milan
Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking.
Proceedings of the 11th Asian Control Converence (ASCC) 2017. Piscataway: IEEE, 2017, s. 192-197, č. článku 0355. ISBN 978-1-5090-1572-6.
[The 11th Asian Control Conference (ASCC) 2017. Gold Coast (AU), 17.12.2017-20.12.2017]
Grant CEP: GA ČR(CZ) GA17-04682S
Institucionální podpora: RVO:67985556
Klíčová slova: Hamiltonian approach * Collocated virtual holonomic constraints * Underactuated walking
Obor OECD: Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Hamiltonian representation of the so-called collocated virtual holonomic constraints is studied here to provide an alternative algorithm to enforce these constraints by feedback. Its efficiency is demonstrated by the walking design for the planar underactuated mechanical four-link chain.
Trvalý link: http://hdl.handle.net/11104/0278780