Cyclic walking-like trajectory design and tracking in mechanical chain with impacts

0435096 - ÚTIA 2015 RIV CL eng C - Conference Paper (international conference)
Anderle, Milan - Čelikovský, Sergej
Cyclic walking-like trajectory design and tracking in mechanical chain with impacts.
Proceedings of the XXIst Congreso ACCA 2014. Santiago de Chile: ACCA, 2014, s. 341-346. ISSN 0719-5567.
[Congreso de la Asociación Chilena de Control Automático ACCA 2014 /XXI./. Santiago de Chile (CL), 05.11.2014-07.11.2014]
R&D Projects: GA ČR(CZ) GAP103/12/1794
Institutional support: RVO:67985556
Keywords : Underactuated systems * Generalized Acrobot * Walking trajectory design
Subject RIV: BC - Control Systems Theory

The mechanical chain consisting of 4 links with 3 actuators placed between them is considered in this paper. It will be further referred to as the so-called 4-link. The 4-link can be used to study underactuated walking-like movement resembling walking of a pair of legs with knees and hips without a torso. Underactuated mechanical systems have less actuators than degrees of freedom. When a point of contact with surface is fixed, the above 4-link clearly has 4 degrees of freedom while 3 actuators only. The control of the 4-link model in a way resembling a human walk will be designed here based on the embedding of a simpler two degrees of freedom model with one actuator into the model of 4-link. This simpler model is referred to as the so-called generalized Acrobot. The embedding is performed via imposing two virtual constraints fixing dependence between knees angles and hip angle via suitable selection of a pair of constraining functions.
Permanent Link: http://hdl.handle.net/11104/0239029