0348015 20240111140745.120101011235959.9 8 s. CD Rom cav_un_epca*0348014978-0-7918-3884-61-8Cambridge MassachusettsASME2010 efficient algorithms feedback linearization mechanical systems cav_un_auth*0252057 Anderle Milan Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 233 kB GA102/08/0186 GA ČR CZ cav_un_auth*0239127 CEZ:AV0Z10750506 The Acrobot is the simplest walking like underactuated system which at the same time comprises all typical difficulties of the underactuated walking. In particular, efficient algorithms for the Acrobot walking may be generalized to more general walking like configurations through their special decomposition. The main contribution of this paper is to design the algorithm how to compute a cyclic walking like trajectory which is crucial to have the hybrid exponentially stable multi step tracking of this trajectory later on. Notice, that such a design is not an easy task as the walking trajectory initial conditions are changed along the single step into different end conditions and these should be subsequently mapped by the impact map into the same initial condition for the second step. For this sake we use the special partial linearized coordinates to demonstrate their advantage for the design of the cyclic walking trajectory. cav_un_auth*0264652 The ASME 2010 Dynamic Systems and Control Conference Cambridge Massachusetts 12.09.2010-15.09.2010 US 2011 BC 2 http://hdl.handle.net/11104/0188642 2010 textový dokument 233 kB cav_un_epca*0348014 Proceedings of the ASME 2010 Dynamic Systems and Control Conference DSCC2010 978-0-7918-3884-6 1 8 Cambridge Massachusetts ASME 2010 1851CD