About: Cyclic walking-like trajectory design and tracking in mechanical chain with impacts

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The mechanical chain consisting of 4 links with 3 actuators placed between them is considered in this paper. It will be further referred to as the so-called 4-link. The 4-link can be used to study underactuated walking-like movement resembling walking of a pair of legs with knees and hips without a torso. Underactuated mechanical systems have less actuators than degrees of freedom. When a point of contact with surface is fixed, the above 4-link clearly has 4 degrees of freedom while 3 actuators only. The control of the 4-link model in a way resembling a human walk will be designed here based on the embedding of a simpler two degrees of freedom model with one actuator into the model of 4-link. This simpler model is referred to as the so-called generalized Acrobot. The embedding is performed via imposing two virtual constraints fixing dependence between knees angles and hip angle via suitable selection of a pair of constraining functions. The mechanical chain consisting of 4 links with 3 actuators placed between them is considered in this paper. It will be further referred to as the so-called 4-link. The 4-link can be used to study underactuated walking-like movement resembling walking of a pair of legs with knees and hips without a torso. Underactuated mechanical systems have less actuators than degrees of freedom. When a point of contact with surface is fixed, the above 4-link clearly has 4 degrees of freedom while 3 actuators only. The control of the 4-link model in a way resembling a human walk will be designed here based on the embedding of a simpler two degrees of freedom model with one actuator into the model of 4-link. This simpler model is referred to as the so-called generalized Acrobot. The embedding is performed via imposing two virtual constraints fixing dependence between knees angles and hip angle via suitable selection of a pair of constraining functions. (en)
Title	Cyclic walking-like trajectory design and tracking in mechanical chain with impacts Cyclic walking-like trajectory design and tracking in mechanical chain with impacts (en)
skos:prefLabel	Cyclic walking-like trajectory design and tracking in mechanical chain with impacts Cyclic walking-like trajectory design and tracking in mechanical chain with impacts (en)
skos:notation	RIV/67985556:_____/14:00435096!RIV15-GA0-67985556
http://linked.open...avai/riv/aktivita	I P
http://linked.open...avai/riv/aktivity	I, P(GAP103/12/1794)
http://linked.open...vai/riv/dodaniDat	2015
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	9509
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/14:00435096
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Underactuated systems; Generalized Acrobot; Walking trajectory design (en)
http://linked.open.../riv/klicoveSlovo	Generalized Acrobot Underactuated systems Walking trajectory design
http://linked.open...ontrolniKodProRIV	[09350319D1FF]
http://linked.open...v/mistoKonaniAkce	Santiago de Chile
http://linked.open...i/riv/mistoVydani	Santiago de Chile
http://linked.open...i/riv/nazevZdroje	Proceedings of the XXIst Congreso ACCA 2014
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	Advanced methods for complex systems analysis and control.
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-11-05 (xsd:date)
issn	0719-5567
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	ACCA

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