| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0460762 |
| utime |
20240111140921.5 |
| mtime |
20160718235959.9 |
| SCOPUS |
84992034983 |
| WOS |
000388376106015 |
| DOI |
10.1109/ACC.2016.7526616 |
| title
(primary) (eng) |
On the collocated virtual holonomic constraints in Lagrangian systems |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0460761 |
| ISBN |
978-1-4673-8681-4 |
| title
|
Proceedings of the American Control Conference (ACC), 2016 |
| part_num |
CFP16ACC-USB |
| page_num |
6030-6035 |
| publisher |
| place |
Boston |
| name |
IEEE |
| year |
2016 |
|
|
| keyword |
Virtual Holonomic Constraints |
| keyword |
Underactuated Walking Robots |
| keyword |
Hybrid Nonlinear Systems |
| author
(primary) |
| ARLID |
cav_un_auth*0101074 |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| full_dept |
Department of Control Theory |
| name1 |
Čelikovský |
| name2 |
Sergej |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0252057 |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| full_dept |
Department of Control Theory |
| name1 |
Anderle |
| name2 |
Milan |
| institution |
UTIA-B |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
příspěvek na konferenci |
| source_size |
330 KB |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0292613 |
| project_id |
GA13-20433S |
| agency |
GA ČR |
|
| abstract
(eng) |
In this paper, the collocated virtual holonomic constraints are introduced in the coordinate free manner and their flat coordinates representation is derived. Flat coordinates are those where the virtual holonomic constraints are given by a subset of coordinates components put to be zero. The flat coordinates representation enables a clear description of both the constraint system and the feedback imposing it. Results are illustrated by swinging up the mechanical four link chain. Possible outlooks for walking design are discussed as well. |
| action |
| ARLID |
cav_un_auth*0331565 |
| name |
The American Control Conference (ACC) 2016 |
| dates |
06.07.2016-08.07.2016 |
| place |
Boston |
| country |
US |
|
| RIV |
BC |
| reportyear |
2017 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0260949 |
| confidential |
S |
| mrcbC86 |
n.a. Proceedings Paper Automation Control Systems |
| arlyear |
2016 |
| mrcbU14 |
84992034983 SCOPUS |
| mrcbU34 |
000388376106015 WOS |
| mrcbU56 |
příspěvek na konferenci 330 KB |
| mrcbU63 |
cav_un_epca*0460761 Proceedings of the American Control Conference (ACC), 2016 CFP16ACC-USB 978-1-4673-8681-4 6030 6035 Boston IEEE 2016 |
|