| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0462102 |
| utime |
20240111140923.5 |
| mtime |
20160901235959.9 |
| SCOPUS |
85009183713 |
| WOS |
000401244000134 |
| DOI |
10.1016/j.ifacol.2016.10.264 |
| title
(primary) (eng) |
Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0471638 |
| ISSN |
2405-8963 |
| title
|
IFAC-PapersOnLine. Volume 49, Issue 18 |
| part_title |
10th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016 - Monterey, California, USA, 23-25 August 2016 |
| page_num |
802-807 |
| publisher |
| place |
Monterey |
| name |
IFAC |
| year |
2016 |
|
|
| keyword |
Geometric Methods |
| keyword |
Robotics |
| 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 |
konferenční příspěvek |
| source_size |
693,09 kB |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0292613 |
| project_id |
GA13-20433S |
| agency |
GA ČR |
|
| abstract
(eng) |
The hybrid invariance of the collocated virtual holonomic constraints for general underactuated mechanical systems is studied here. The collocated virtual holonomic constraints involve directly actuated coordinates only and they preserve the kinetic symmetry and the Lagrangian character of the corresponding restricted dynamics. Their hybrid invariance can be combined with the walking design during the swing phase based on the kinetic symmetry to achieve the exponential stable multi-step walking. Results are illustrated by the case study of the planar four link mechanical chain and its walking-like movement. |
| action |
| ARLID |
cav_un_auth*0332857 |
| name |
The 10th IFAC Symposium on Nonlinear Control Systems, Monterey, California USA (2016) |
| dates |
23.08.2016-25.8.2016 |
| place |
Monterey, California |
| country |
US |
|
| RIV |
BC |
| reportyear |
2017 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0261928 |
| confidential |
S |
| mrcbC86 |
n.a. Proceedings Paper Automation Control Systems |
| mrcbT16-s |
0.298 |
| mrcbT16-4 |
Q3 |
| mrcbT16-E |
Q3 |
| arlyear |
2016 |
| mrcbU14 |
85009183713 SCOPUS |
| mrcbU34 |
000401244000134 WOS |
| mrcbU56 |
konferenční příspěvek 693,09 kB |
| mrcbU63 |
cav_un_epca*0471638 IFAC-PapersOnLine. Volume 49, Issue 18 10th IFAC Symposium on Nonlinear Control Systems NOLCOS 2016 - Monterey, California, USA, 23-25 August 2016 2405-8963 802 807 Monterey IFAC 2016 |
|