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  • The virtual constraints method is used here to design and control the walking-like trajectory of the 4-link having 4 degrees of freedom: stance angle, 2 knees angles and 1 hip angle and 3 actuators only as the stance leg angle is not actuated. Two different approaches are compared. First, the wellknown approach consists in setting virtual constraints as the dependencies of knees and hip angles on the stance leg angle. Therefore there are 3 virtual constraints enforced by all 3 available inputs and reducing thereby overall 4 degrees of freedom to a single degree of freedom unactuated system. Selecting suitable constraints functions, various walking-like trajectories can be designed. Secondly, this three constraints approach is compared with the alternative one developed very recently. Here, only two constraints are imposed being dependencies of knees angles on the hip angle thereby reducing the 4-link to 2 degrees of freedom system with a single actuator at the hip angle.
  • The virtual constraints method is used here to design and control the walking-like trajectory of the 4-link having 4 degrees of freedom: stance angle, 2 knees angles and 1 hip angle and 3 actuators only as the stance leg angle is not actuated. Two different approaches are compared. First, the wellknown approach consists in setting virtual constraints as the dependencies of knees and hip angles on the stance leg angle. Therefore there are 3 virtual constraints enforced by all 3 available inputs and reducing thereby overall 4 degrees of freedom to a single degree of freedom unactuated system. Selecting suitable constraints functions, various walking-like trajectories can be designed. Secondly, this three constraints approach is compared with the alternative one developed very recently. Here, only two constraints are imposed being dependencies of knees angles on the hip angle thereby reducing the 4-link to 2 degrees of freedom system with a single actuator at the hip angle. (en)
Title
  • Virtual constraints for the underactuated walking design: comparison of two approaches
  • Virtual constraints for the underactuated walking design: comparison of two approaches (en)
skos:prefLabel
  • Virtual constraints for the underactuated walking design: comparison of two approaches
  • Virtual constraints for the underactuated walking design: comparison of two approaches (en)
skos:notation
  • RIV/68407700:21230/13:00209148!RIV14-GA0-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GAP103/12/1794)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 114116
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/13:00209148
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • walking robots; control; mechanical systems (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [F2AFB000C0C6]
http://linked.open...v/mistoKonaniAkce
  • Istanbul
http://linked.open...i/riv/mistoVydani
  • New York
http://linked.open...i/riv/nazevZdroje
  • Proceedings of the 9th Asian Control Conference (ASCC 2013)
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Čelikovský, Sergej
  • Anderle, Milan
  • Ibarra, H.
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://bibframe.org/vocab/doi
  • 10.1109/ASCC.2013.6606178
http://purl.org/ne...btex#hasPublisher
  • IEEE Control System Society
https://schema.org/isbn
  • 978-1-4673-5769-2
http://localhost/t...ganizacniJednotka
  • 21230
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