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Chain of four integrators as a possible essence of the under-actuated planar walking
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SYSNO ASEP 0545899 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Chain of four integrators as a possible essence of the under-actuated planar walking Author(s) Čelikovský, Sergej (UTIA-B) RID, ORCID
Anderle, Milan (UTIA-B) RID, ORCIDNumber of authors 2 Source Title IFAC-PapersOnLine. Volume 54, Issue 14 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021. - Amsterdam : Elsevier, 2021 - ISSN 2405-8963 Pages s. 60-65 Number of pages 6 s. Publication form Online - E Action IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 /3./ Event date 15.09.2021 - 17.09.2021 VEvent location Tokyo Country JP - Japan Event type WRD Language eng - English Country NL - Netherlands Keywords Underactuated walking ; Feedback linearization ; Collocated virtual holonomic constraints OECD category Automation and control systems Subject RIV - cooperation Control Systems Theory R&D Projects GA21-03689S GA ČR - Czech Science Foundation (CSF) Institutional support UTIA-B - RVO:67985556 DOI 10.1016/j.ifacol.2021.10.329 Annotation This paper continues the previously published research showing that for the three-link there always exist collocated virtual holonomic constraints for the torso and mechanical parameters readjustment such that the resulting restricted dynamics is state and feedback equivalent to the chain of four integrators. In such a way, the role of the torso in walking patterns design achieves nice and clear control-theoretic interpretation. To underline a potential of that interesting feature, a thorough numerical optimization based design of suitable trajectories for the integrator chains is performed in this paper. Successful solution is then used to design hybrid stable multi-step walking for the three-link demonstrated by the simulations as well. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2022
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