Počet záznamů: 1
Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design
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SYSNO ASEP 0394321 Druh ASEP C - Konferenční příspěvek (mezinárodní konf.) Zařazení RIV D - Článek ve sborníku Název Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design Tvůrce(i) Čelikovský, Sergej (UTIA-B) RID, ORCID
Anderle, Milan (UTIA-B) RID, ORCID
Moog, C. H. (FR)Celkový počet autorů 3 Zdroj.dok. Proceedings of the European Control Conference 2013 (ECC). - Curich : IEEE, 2013 - ISBN 978-3-9524173-4-8 Rozsah stran s. 682-689 Poč.str. 8 s. Forma vydání Online - E Akce The European Control Conference 2013 (ECC) Datum konání 17.07.2013-19.07.2013 Místo konání Curich Země CH - Švýcarsko Typ akce EUR Jazyk dok. eng - angličtina Země vyd. CH - Švýcarsko Klíč. slova nonlinear control ; walking robots Vědní obor RIV BC - Teorie a systémy řízení CEP GAP103/12/1794 GA ČR - Grantová agentura ČR Institucionální podpora UTIA-B - RVO:67985556 Anotace The Acrobot is the well-known and widely studied underactuated mechanical system having two links and one actuated joint between them. It may be also viewed as the simplest possible walking like mechanism without knees and the ankle-joint actuation, alternatively also referred to as the underactuated Compass gait walker. To extend techniques used to control the Acrobot to a more general underactuated n-link having an unactuated cyclic variable, this paper defines the socalled generalized Acrobot. Further, it is shown that for every set of virtual constraints there exists a generalized Acrobot that is linearly embedded into this n-link. Based on this property and results valid for the Acrobot, walking strategies for the n-link are provided. Important achievement here is that the exponentially stable tracking during the swing phase only is possible, i.e. the stabilizing effect of the impact map is not needed. Computer simulations of the 4-link case are provided. Pracoviště Ústav teorie informace a automatizace Kontakt Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Rok sběru 2014
Počet záznamů: 1