Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

0588080 20250310145951.720240801235959.9 85199965719 001285764100001 10.1016/j.jfranklin.2024.107086 Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design 24 s. P cav_un_epca*02537790016-0032Journal of the Franklin Institute-Engineering and Applied Mathematics361Elsevier Chained mechanical systems walking State and feedback equivalence cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory K 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. https://library.utia.cas.cz/separaty/2024/TR/celikovsky-0588080.pdf https://www.sciencedirect.com/science/article/pii/S0016003224005076?via%3Dihub GA21-03689S GA ČR CZ cav_un_auth*0410139 The main theoretical novelty of this paper is the state and feedback equivalence of the underactuated 4-degrees of freedom planar walking-like mechanical chain system with 3 actuators to its 8-dimensional almost linear form with 3 virtual inputs. Moreover, the only residual nonlinearity vanishes on the 4-dimensional linear subspace being forward invariant when 2 of 3 virtual inputs are set to be zero. Dynamics inside that subsystem is actually the chain of 4 integrators fed by the remaining single virtual input and it can be interpreted as a rich variety of synchronous movements of torsos and legs. In such a way, the seemingly abstract and purely theoretical result can be used to design the walking-like movement during the single-support phase. The impact effect during the impulsive-like double-support phase is then attenuated by further special trajectories tuning and finite-time stabilization technique which provides the sustainable multi-step walking design. Moreover, the target walking-like trajectory is attracted by nearby trajectories. This further justify the importance and usefulness of the mentioned state and feedback equivalence. Its viability is further demonstrated by the simulations of various scenarios of the walking-like movement and the respective torsos behaviors. WOS BC 20000 20200 20205 2025 2 4 A sml 4as 2rh 20240801134845.2 2 R hod 20250310143426.5 20250310145951.7 RVO:67985556 https://hdl.handle.net/11104/0355127 S Publishing Agreement 20240716 107086 C AUTOMATION&CONTROLSYSTEMS|ENGINEERING.MULTIDISCIPLINARY|ENGINEERING.ELECTRICAL&ELECTRONIC|MATHEMATICS.INTERDISCIPLINARYAPPLICATIONS 3.8 0.7 4.5 0.01885 0.846 16781 111 0.994 39.91 4.37 7412 Q1 3.300 770 Q1 79.8 1.06 Q1 91.5 2024 Soubory v repozitáři: celikovsky-0588080.pdf, celikovsky-0588080-copyrightJFI2024.pdf 85199965719 SCOPUS PUBMED 001285764100001 WOS 1,77 MB cav_un_epca*0253779 Journal of the Franklin Institute-Engineering and Applied Mathematics 0016-0032 1879-2693 Roč. 361 č. 1 2024 Elsevier