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On the equivalence of the three-link to the almost linear form
- 1.0559544 - ÚTIA 2023 RIV IT eng C - Conference Paper (international conference)
Čelikovský, Sergej - Anderle, Milan
On the equivalence of the three-link to the almost linear form.
Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022. Piscataway: IEEE, 2022, č. článku 9905468. ISBN 978-1-7281-7124-1.
[IEEE Workshop on Complexity in Engeneering 2022 /6./. Florence (IT), 18.07.2022-20.07.2022]
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : mechanical systems * feedback linearization * legged locomotion
OECD category: Automation and control systems
http://library.utia.cas.cz/separaty/2022/TR/celikovsky-0559544.pdf https://ieeexplore.ieee.org/document/9905468
The almost linear form that is state and feedback equivalent to the dynamics of the so-called three-link (aka biped with torso) is derived and proved here. This result is then applied to the walking design with downward torso movement imitating balancing role of a hand. This motivates a challenging idea: the balancing role of hands in two-dimensional walking consists in synchronizing the hand angle with the hip angle in such a way that the resulting restricted dynamics is exact feedback linearizable. Results are demonstrated by the simulations of a single step including walking animations.
Permanent Link: https://hdl.handle.net/11104/0332811
Number of the records: 1