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On the collocated virtual holonomic constraints in Lagrangian systems
- 1.0460762 - ÚTIA 2017 RIV US eng C - Conference Paper (international conference)
Čelikovský, Sergej - Anderle, Milan
On the collocated virtual holonomic constraints in Lagrangian systems.
Proceedings of the American Control Conference (ACC), 2016. Vol. CFP16ACC-USB. Boston: IEEE, 2016, s. 6030-6035. ISBN 978-1-4673-8681-4.
[The American Control Conference (ACC) 2016. Boston (US), 06.07.2016-08.07.2016]
R&D Projects: GA ČR GA13-20433S
Institutional support: RVO:67985556
Keywords : Virtual Holonomic Constraints * Underactuated Walking Robots * Hybrid Nonlinear Systems
Subject RIV: BC - Control Systems Theory
In this paper, the collocated virtual holonomic constraints are introduced in the coordinate free manner and their flat coordinates representation is derived. Flat coordinates are those where the virtual holonomic constraints are given by a subset of coordinates components put to be zero. The flat coordinates representation enables a clear description of both the constraint system and the feedback imposing it. Results are illustrated by swinging up the mechanical four link chain. Possible outlooks for walking design are discussed as well.
Permanent Link: http://hdl.handle.net/11104/0260949
Number of the records: 1