0559544 20240111141108.020220801235959.9 85141093856 10.1109/COMPENG50184.2022.9905468 5 s. E cav_un_epca*0562799978-1-7281-7124-1PiscatawayIEEE2022 mechanical systems feedback linearization legged locomotion 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 CZ Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. konferenční příspěvek http://library.utia.cas.cz/separaty/2022/TR/celikovsky-0559544.pdf 3,95 MB https://ieeexplore.ieee.org/document/9905468 GA21-03689S GA ČR CZ cav_un_auth*0410139 The almost linear form that is state and feedback equivalent to the dynamics of the so-called three-link (aka biped with torso) is derived and proved here. This result is then applied to the walking design with downward torso movement imitating balancing role of a hand. This motivates a challenging idea: the balancing role of hands in two-dimensional walking consists in synchronizing the hand angle with the hip angle in such a way that the resulting restricted dynamics is exact feedback linearizable. Results are demonstrated by the simulations of a single step including walking animations. cav_un_auth*0433746 IEEE Workshop on Complexity in Engeneering 2022 /6./ 20220718 Florence IT 20220720 https://compeng2022.ino.cnr.it/ BC 20000 20200 20205 2023 2 4 A sml 4as 20231122150701.7 PR RVO:67985556 https://hdl.handle.net/11104/0332811 1 S IEEE COPYRIGHT AND CONSENT FORM 22.09.2022 9905468 2022 Soubory v repozitáři: celikovsky-0559544-CopyrightReceipt.pdf 85141093856 SCOPUS PUBMED WOS konferenční příspěvek 3,95 MB cav_un_epca*0562799 Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022 978-1-7281-7124-1 Piscataway IEEE 2022