About: Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design

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About: Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design Goto Sponge NotDistinct Permalink

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The Acrobot is the well-known and widely studied underactuated mechanical system having two links and one actuated joint between them. It may be also viewed as the simplest possible walking like mechanism without knees and the ankle-joint actuation, alternatively also referred to as the underactuated Compass gait walker. To extend techniques used to control the Acrobot to a more general underactuated n-link having an unactuated cyclic variable, this paper defines the socalled generalized Acrobot. Further, it is shown that for every set of virtual constraints there exists a generalized Acrobot that is linearly embedded into this n-link. Based on this property and results valid for the Acrobot, walking strategies for the n-link are provided. Important achievement here is that the exponentially stable tracking during the swing phase only is possible, i.e. the stabilizing effect of the impact map is not needed. Computer simulations of the 4-link case are provided. The Acrobot is the well-known and widely studied underactuated mechanical system having two links and one actuated joint between them. It may be also viewed as the simplest possible walking like mechanism without knees and the ankle-joint actuation, alternatively also referred to as the underactuated Compass gait walker. To extend techniques used to control the Acrobot to a more general underactuated n-link having an unactuated cyclic variable, this paper defines the socalled generalized Acrobot. Further, it is shown that for every set of virtual constraints there exists a generalized Acrobot that is linearly embedded into this n-link. Based on this property and results valid for the Acrobot, walking strategies for the n-link are provided. Important achievement here is that the exponentially stable tracking during the swing phase only is possible, i.e. the stabilizing effect of the impact map is not needed. Computer simulations of the 4-link case are provided. (en)
Title	Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design (en)
skos:prefLabel	Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design (en)
skos:notation	RIV/67985556:_____/13:00394321!RIV14-GA0-67985556
http://linked.open...avai/predkladatel	Ústav teorie informace a automatizace AV ČR, v. v. i.
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	2014
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	72632
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/13:00394321
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	nonlinear control; walking robots (en)
http://linked.open.../riv/klicoveSlovo	walking robots nonlinear control
http://linked.open...ontrolniKodProRIV	[639117A4D199]
http://linked.open...v/mistoKonaniAkce	Curich
http://linked.open...i/riv/mistoVydani	Curich
http://linked.open...i/riv/nazevZdroje	Proceedings of the European Control Conference 2013 (ECC)
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Advanced methods for complex systems analysis and control.
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan Moog, C. H.
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2013-07-17 (xsd:date)
number of pages	8 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-3-9524173-4-8

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