0394321 20240111140832.720130919235959.9 8 s. E cav_un_epca*0394320978-3-9524173-4-8682-689CurichIEEE2013 nonlinear control walking robots 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. 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*0212680 Moog C. H. FR textový dokument 205 kB GAP103/12/1794 GA ČR CZ cav_un_auth*0283207 The Acrobot is the well-known and widely studied underactuated mechanical system having two links and one actuated joint between them. It may be also viewed as the simplest possible walking like mechanism without knees and the ankle-joint actuation, alternatively also referred to as the underactuated Compass gait walker. To extend techniques used to control the Acrobot to a more general underactuated n-link having an unactuated cyclic variable, this paper defines the socalled generalized Acrobot. Further, it is shown that for every set of virtual constraints there exists a generalized Acrobot that is linearly embedded into this n-link. Based on this property and results valid for the Acrobot, walking strategies for the n-link are provided. Important achievement here is that the exponentially stable tracking during the swing phase only is possible, i.e. the stabilizing effect of the impact map is not needed. Computer simulations of the 4-link case are provided. cav_un_auth*0292539 The European Control Conference 2013 (ECC) Curich 17.07.2013-19.07.2013 CH 2014 BC 3 PR RVO:67985556 http://hdl.handle.net/11104/0223782 2013 textový dokument 205 kB cav_un_epca*0394320 Proceedings of the European Control Conference 2013 (ECC) 978-3-9524173-4-8 682 689 Curich IEEE 2013