About: Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The Acrobot is the simplest walking like underactuated system which at the same time comprises all typical difficulties of the underactuated walking. In particular, efficient algorithms for the Acrobot walking may be generalized to more general walking like configurations through their special decomposition. The main contribution of this paper is to design the algorithm how to compute a cyclic walking like trajectory which is crucial to have the hybrid exponentially stable multi step tracking of this trajectory later on. Notice, that such a design is not an easy task as the walking trajectory initial conditions are changed along the single step into different end conditions and these should be subsequently mapped by the impact map into the same initial condition for the second step. For this sake we use the special partial linearized coordinates to demonstrate their advantage for the design of the cyclic walking trajectory. The Acrobot is the simplest walking like underactuated system which at the same time comprises all typical difficulties of the underactuated walking. In particular, efficient algorithms for the Acrobot walking may be generalized to more general walking like configurations through their special decomposition. The main contribution of this paper is to design the algorithm how to compute a cyclic walking like trajectory which is crucial to have the hybrid exponentially stable multi step tracking of this trajectory later on. Notice, that such a design is not an easy task as the walking trajectory initial conditions are changed along the single step into different end conditions and these should be subsequently mapped by the impact map into the same initial condition for the second step. For this sake we use the special partial linearized coordinates to demonstrate their advantage for the design of the cyclic walking trajectory. (en)
Title	Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking (en)
skos:prefLabel	Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking (en)
skos:notation	RIV/67985556:_____/10:00348015!RIV11-GA0-67985556
http://linked.open...avai/riv/aktivita	P S Z
http://linked.open...avai/riv/aktivity	P(GA102/08/0186), S, Z(AV0Z10750506)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Ústav teorie informace a automatizace AV ČR, v. v. i.
http://linked.open...dnocenehoVysledku	291215
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/10:00348015
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	efficient algorithms; feedback linearization; mechanical systems (en)
http://linked.open.../riv/klicoveSlovo	efficient algorithms feedback linearization mechanical systems
http://linked.open...ontrolniKodProRIV	[6A9E35FC2CB0]
http://linked.open...v/mistoKonaniAkce	Cambridge Massachusetts
http://linked.open...i/riv/mistoVydani	Cambridge Massachusetts
http://linked.open...i/riv/nazevZdroje	Proceedings of the ASME 2010 Dynamic Systems and Control Conference DSCC2010
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Algorithms for Complex Systems Analysis and Control Design
http://linked.open...UplatneniVysledku	2010
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2010-09-12 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Pokročilé matematické metody získávání, zpracování a využití informací a znalostí ve složitých a nedeterministických systémech
number of pages	8 (xsd:int)
http://purl.org/ne...btex#hasPublisher	ASME
https://schema.org/isbn	978-0-7918-3884-6

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