| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0545899 |
| utime |
20250123093935.5 |
| mtime |
20210927235959.9 |
| SCOPUS |
85120653036 |
| WOS |
000714395700011 |
| DOI |
10.1016/j.ifacol.2021.10.329 |
| title
(primary) (eng) |
Chain of four integrators as a possible essence of the under-actuated planar walking |
| specification |
| page_count |
6 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0547619 |
| ISSN |
2405-8963 |
| title
|
IFAC-PapersOnLine. Volume 54, Issue 14 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 |
| page_num |
60-65 |
| publisher |
| place |
Amsterdam |
| name |
Elsevier |
| year |
2021 |
|
|
| keyword |
Underactuated walking |
| keyword |
Feedback linearization |
| keyword |
Collocated virtual holonomic constraints |
| 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 |
|
| cas_special |
| project |
| project_id |
GA21-03689S |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0410139 |
|
| abstract
(eng) |
This paper continues the previously published research showing that for the three-link there always exist collocated virtual holonomic constraints for the torso and mechanical parameters readjustment such that the resulting restricted dynamics is state and feedback equivalent to the chain of four integrators. In such a way, the role of the torso in walking patterns design achieves nice and clear control-theoretic interpretation. To underline a potential of that interesting feature, a thorough numerical optimization based design of suitable trajectories for the integrator chains is performed in this paper. Successful solution is then used to design hybrid stable multi-step walking for the three-link demonstrated by the simulations as well. |
| action |
| ARLID |
cav_un_auth*0413919 |
| name |
IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 /3./ |
| dates |
20210915 |
| mrcbC20-s |
20210917 |
| place |
Tokyo |
| country |
JP |
|
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2022 |
| num_of_auth |
2 |
| mrcbC52 |
4 A sml 4as 20231122145946.7 |
| presentation_type |
PR |
| mrcbC55 |
BC |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0322556 |
| confidential |
S |
| contract |
| name |
INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL (IFAC) LICENSE AGREEMENT |
| date |
20210701 |
|
| mrcbT16-s |
0.332 |
| mrcbT16-E |
Q4 |
| arlyear |
2021 |
| mrcbTft |
\nSoubory v repozitáři: celikovsky-0545899-MICNON21_CopyrightForm_29Chain.pdf |
| mrcbU14 |
85120653036 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000714395700011 WOS |
| mrcbU56 |
konferenční příspěvek 352 KB |
| mrcbU63 |
cav_un_epca*0547619 IFAC-PapersOnLine. Volume 54, Issue 14 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021 Elsevier 2021 Amsterdam 60 65 2405-8963 |
|