Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable

0493896 - ÚTIA 2019 RIV NL eng C - Conference Paper (international conference)
Čelikovský, Sergej - Anderle, Milan
Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable.
IFAC PapersOnLine. Volume 51, Issue 22. : 12th IFAC Symposium on Robot Control SYROCO 2018. Amserdam: Elsevier, 2018, s. 378-385. ISSN 2405-8963.
[The 12TH IFAC SYMPOSIUM ON ROBOT CONTROL - SYROCO 2018. Budapešť (HU), 27.08.2018-30.08.2018]
R&D Projects: GA ČR(CZ) GA17-04682S
Institutional support: RVO:67985556
Keywords : Hamiltonian methods * walking robots * collocated constraints
OECD category: Electrical and electronic engineering

Paper presents the current state of the laboratory model of the planar walking robot built in laboratory in UTIA. Moreover, it presents simulation results of the walkinglike movement of the simpli ed version - the so-called three-link, alternatively also called Acrobot with torso. Method for the walking design is based on the use of the collocated virtual holonomic constraints. Collocated constraints include the directly actuated variables only. Restricted system then conserves cyclic property of the unactuated variable and can be controlled using its three dimensional exact feedback linearization.
Permanent Link: http://hdl.handle.net/11104/0287177