| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0559544 |
| utime |
20240111141108.0 |
| mtime |
20220801235959.9 |
| SCOPUS |
85141093856 |
| DOI |
10.1109/COMPENG50184.2022.9905468 |
| title
(primary) (eng) |
On the equivalence of the three-link to the almost linear form |
| specification |
| page_count |
5 s. |
| media_type |
E |
|
| serial |
| ARLID |
cav_un_epca*0562799 |
| ISBN |
978-1-7281-7124-1 |
| title
|
Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022 |
| publisher |
| place |
Piscataway |
| name |
IEEE |
| year |
2022 |
|
|
| keyword |
mechanical systems |
| keyword |
feedback linearization |
| keyword |
legged locomotion |
| 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 |
| country |
CZ |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| source |
|
| cas_special |
| project |
| project_id |
GA21-03689S |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0410139 |
|
| abstract
(eng) |
The almost linear form that is state and feedback equivalent to the dynamics of the so-called three-link (aka biped with torso) is derived and proved here. This result is then applied to the walking design with downward torso movement imitating balancing role of a hand. This motivates a challenging idea: the balancing role of hands in two-dimensional walking consists in synchronizing the hand angle with the hip angle in such a way that the resulting restricted dynamics is exact feedback linearizable. Results are demonstrated by the simulations of a single step including walking animations. |
| action |
| ARLID |
cav_un_auth*0433746 |
| name |
IEEE Workshop on Complexity in Engeneering 2022 /6./ |
| dates |
20220718 |
| place |
Florence |
| country |
IT |
| mrcbC20-s |
20220720 |
| url |
https://compeng2022.ino.cnr.it/ |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2023 |
| num_of_auth |
2 |
| mrcbC52 |
4 A sml 4as 20231122150701.7 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
https://hdl.handle.net/11104/0332811 |
| mrcbC61 |
1 |
| confidential |
S |
| contract |
| name |
IEEE COPYRIGHT AND CONSENT FORM |
| date |
22.09.2022 |
|
| article_num |
9905468 |
| arlyear |
2022 |
| mrcbTft |
\nSoubory v repozitáři: celikovsky-0559544-CopyrightReceipt.pdf |
| mrcbU14 |
85141093856 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
WOS |
| mrcbU56 |
konferenční příspěvek 3,95 MB |
| mrcbU63 |
cav_un_epca*0562799 Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022 978-1-7281-7124-1 Piscataway IEEE 2022 |
|