0507910 20241106135744.320190829235959.9 85075801969 10.1109/ICCA.2019.8899481 7 s. C cav_un_epca*0507909978-1-7281-1163-61289-1295PiscatawayIEEE2019 Mechancal systems robotic walking exact feedback linearization cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory CZ Ústav teorie informace a automatizace AV ČR, v. v. i. konferenční příspěvek 837,13 Kb cav_un_auth*0347203 GA17-04682S GA ČR CZ The collocated virtual holonomic constraints for the planar mechanical three-link system are designed to impose the fully exact feedback linearizable constrained dynamics. The linear methods are then applicable both to generate and exponentially track the target walking-like trajectory. More specifically, for every double support phase at the beginning of the step, the mass placed on the torso can be adjusted and the specific constraint designed to ensure the above mentioned full exact feedback linearizability. Furthermore, the design of the impact invariant families of trajectories inside that constrained dynamics is provided as well. To illustrate these results the hybrid cyclic walking-like trajectory is designed and simulated. cav_un_auth*0379088 IEEE International Conference on Control and Automation (IEEE ICCA 2019) /15./ 20190716 20190719 Edinburg GB BC 20000 20200 20204 2020 2 4 A sml 4as 20241106135744.3 PR RVO:67985556 http://hdl.handle.net/11104/0298874 S IEEE COPYRIGHT AND CONSENT FORM 20190412 Copyright and Consent Form 2019 Soubory v repozitáři: celikovsky-0508489-Copyright Receipt.pdf 85075801969 SCOPUS PUBMED WOS konferenční příspěvek 837,13 Kb cav_un_epca*0507909 Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019) 978-1-7281-1163-6 1289 1295 Piscataway IEEE 2019