| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0435096 |
| utime |
20240111140854.2 |
| mtime |
20141119235959.9 |
| title
(primary) (eng) |
Cyclic walking-like trajectory design and tracking in mechanical chain with impacts |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0434603 |
| ISSN |
0719-5567 |
| title
|
Proceedings of the XXIst Congreso ACCA 2014 |
| page_num |
341-346 |
| publisher |
| place |
Santiago de Chile |
| name |
ACCA |
| year |
2014 |
|
|
| keyword |
Underactuated systems |
| keyword |
Generalized Acrobot |
| keyword |
Walking trajectory design |
| author
(primary) |
| ARLID |
cav_un_auth*0252057 |
| name1 |
Anderle |
| name2 |
Milan |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
textový dokument |
| source_size |
360 kB |
|
| cas_special |
| project |
| project_id |
GAP103/12/1794 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0283207 |
|
| abstract
(eng) |
The mechanical chain consisting of 4 links with 3 actuators placed between them is considered in this paper. It will be further referred to as the so-called 4-link. The 4-link can be used to study underactuated walking-like movement resembling walking of a pair of legs with knees and hips without a torso. Underactuated mechanical systems have less actuators than degrees of freedom. When a point of contact with surface is fixed, the above 4-link clearly has 4 degrees of freedom while 3 actuators only. The control of the 4-link model in a way resembling a human walk will be designed here based on the embedding of a simpler two degrees of freedom model with one actuator into the model of 4-link. This simpler model is referred to as the so-called generalized Acrobot. The embedding is performed via imposing two virtual constraints fixing dependence between knees angles and hip angle via suitable selection of a pair of constraining functions. |
| action |
| ARLID |
cav_un_auth*0309172 |
| name |
Congreso de la Asociación Chilena de Control Automático ACCA 2014 /XXI./ |
| place |
Santiago de Chile |
| dates |
05.11.2014-07.11.2014 |
| country |
CL |
|
| reportyear |
2015 |
| RIV |
BC |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0239029 |
| cooperation |
| ARLID |
cav_un_auth*0298829 |
| name |
České vysoké učení technické v Praze, Fakulta elektrotechnická |
| country |
CZ |
|
| confidential |
S |
| arlyear |
2014 |
| mrcbU56 |
textový dokument 360 kB |
| mrcbU63 |
cav_un_epca*0434603 Proceedings of the XXIst Congreso ACCA 2014 0719-5567 341 346 Santiago de Chile ACCA 2014 |
|