| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0507910 |
| utime |
20241106135744.3 |
| mtime |
20190829235959.9 |
| SCOPUS |
85075801969 |
| DOI |
10.1109/ICCA.2019.8899481 |
| title
(primary) (eng) |
Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking |
| specification |
| page_count |
7 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0507909 |
| ISBN |
978-1-7281-1163-6 |
| title
|
Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019) |
| page_num |
1289-1295 |
| publisher |
| place |
Piscataway |
| name |
IEEE |
| year |
2019 |
|
|
| keyword |
Mechancal systems |
| keyword |
robotic walking |
| keyword |
exact feedback linearization |
| author
(primary) |
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| institution |
UTIA-B |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| 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 |
| institution |
UTIA-B |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| full_dept |
Department of Control Theory |
| country |
CZ |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
konferenční příspěvek |
| source_size |
837,13 Kb |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0347203 |
| project_id |
GA17-04682S |
| agency |
GA ČR |
| country |
CZ |
|
| abstract
(eng) |
The collocated virtual holonomic constraints for the planar mechanical three-link system are designed to impose the fully exact feedback linearizable constrained dynamics. The linear methods are then applicable both to generate and exponentially track the target walking-like trajectory. More specifically, for every double support phase at the beginning of the step, the mass placed on the torso can be adjusted and the specific constraint designed to ensure the above mentioned full exact feedback linearizability. Furthermore, the design of the impact invariant families of trajectories inside that constrained dynamics is provided as well. To illustrate these results the hybrid cyclic walking-like trajectory is designed and simulated. |
| action |
| ARLID |
cav_un_auth*0379088 |
| name |
IEEE International Conference on Control and Automation (IEEE ICCA 2019) /15./ |
| dates |
20190716 |
| mrcbC20-s |
20190719 |
| place |
Edinburg |
| country |
GB |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20204 |
| reportyear |
2020 |
| num_of_auth |
2 |
| mrcbC52 |
4 A sml 4as 20241106135744.3 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0298874 |
| confidential |
S |
| contract |
| name |
IEEE COPYRIGHT AND CONSENT FORM |
| date |
20190412 |
| note |
Copyright and Consent Form |
|
| arlyear |
2019 |
| mrcbTft |
\nSoubory v repozitáři: celikovsky-0508489-Copyright Receipt.pdf |
| mrcbU14 |
85075801969 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU56 |
konferenční příspěvek 837,13 Kb |
| mrcbU63 |
cav_un_epca*0507909 Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019) 978-1-7281-1163-6 1289 1295 Piscataway IEEE 2019 |
|