| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0493896 |
| utime |
20240111141006.6 |
| mtime |
20181001235959.9 |
| SCOPUS |
85058231782 |
| DOI |
10.1016/j.ifacol.2018.11.571 |
| title
(primary) (eng) |
Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable |
| specification |
| page_count |
8 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0498902 |
| ISSN |
2405-8963 |
| title
|
IFAC PapersOnLine. Volume 51, Issue 22. : 12th IFAC Symposium on Robot Control SYROCO 2018 |
| page_num |
378-385 |
| publisher |
| place |
Amserdam |
| name |
Elsevier |
| year |
2018 |
|
|
| keyword |
Hamiltonian methods |
| keyword |
walking robots |
| keyword |
collocated constraints |
| author
(primary) |
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| 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*0252057 |
| name1 |
Anderle |
| name2 |
Milan |
| 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 |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0347203 |
| project_id |
GA17-04682S |
| agency |
GA ČR |
| country |
CZ |
|
| abstract
(eng) |
Paper presents the current state of the laboratory model of the planar walking robot built in laboratory in UTIA. Moreover, it presents simulation results of the walkinglike movement of the simpli ed version - the so-called three-link, alternatively also called Acrobot with torso. Method for the walking design is based on the use of the collocated virtual holonomic constraints. Collocated constraints include the directly actuated variables only. Restricted system then conserves cyclic property of the unactuated variable and can be controlled using its three dimensional exact feedback linearization. |
| action |
| ARLID |
cav_un_auth*0364546 |
| name |
The 12TH IFAC SYMPOSIUM ON ROBOT CONTROL - SYROCO 2018 |
| dates |
20180827 |
| mrcbC20-s |
20180830 |
| place |
Budapešť |
| country |
HU |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20201 |
| reportyear |
2019 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0287177 |
| confidential |
S |
| mrcbT16-s |
0.234 |
| mrcbT16-E |
Q4 |
| arlyear |
2018 |
| mrcbU14 |
85058231782 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU56 |
964 KB |
| mrcbU63 |
cav_un_epca*0498902 IFAC PapersOnLine. Volume 51, Issue 22. : 12th IFAC Symposium on Robot Control SYROCO 2018 2405-8963 378 385 Amserdam Elsevier 2018 |
|