Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking

0507910 - ÚTIA 2020 RIV US eng C - Konferenční příspěvek (zahraniční konf.)
Čelikovský, Sergej - Anderle, Milan
Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking.
Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019). Piscataway: IEEE, 2019, s. 1289-1295. ISBN 978-1-7281-1163-6.
[IEEE International Conference on Control and Automation (IEEE ICCA 2019) /15./. Edinburg (GB), 16.07.2019-19.07.2019]
Grant CEP: GA ČR(CZ) GA17-04682S
Institucionální podpora: RVO:67985556
Klíčová slova: Mechancal systems * robotic walking * exact feedback linearization
Obor OECD: Robotics and automatic control

The collocated virtual holonomic constraints for the planar mechanical three-link system are designed to impose the fully exact feedback linearizable constrained dynamics. The linear methods are then applicable both to generate and exponentially track the target walking-like trajectory. More specifically, for every double support phase at the beginning of the step, the mass placed on the torso can be adjusted and the specific constraint designed to ensure the above mentioned full exact feedback linearizability. Furthermore, the design of the impact invariant families of trajectories inside that constrained dynamics is provided as well. To illustrate these results the hybrid cyclic walking-like trajectory is designed and simulated.
Trvalý link: http://hdl.handle.net/11104/0298874