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Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F13%3A00394321%21RIV14-GA0-67985556
rdf:type
n6:Vysledek skos:Concept
dcterms: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.
dcterms: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
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
skos:notation
RIV/67985556:_____/13:00394321!RIV14-GA0-67985556
n6:predkladatel
n8:ico%3A67985556
n3:aktivita
n10:I n10:P
n3:aktivity
I, P(GAP103/12/1794)
n3:dodaniDat
n19:2014
n3:domaciTvurceVysledku
n13:1424181 n13:1589237
n3:druhVysledku
n15:D
n3:duvernostUdaju
n4:S
n3:entitaPredkladatele
n21:predkladatel
n3:idSjednocenehoVysledku
72632
n3:idVysledku
RIV/67985556:_____/13:00394321
n3:jazykVysledku
n14:eng
n3:klicovaSlova
nonlinear control; walking robots
n3:klicoveSlovo
n5:walking%20robots n5:nonlinear%20control
n3:kontrolniKodProRIV
[639117A4D199]
n3:mistoKonaniAkce
Curich
n3:mistoVydani
Curich
n3:nazevZdroje
Proceedings of the European Control Conference 2013 (ECC)
n3:obor
n9:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
3
n3:projekt
n16:GAP103%2F12%2F1794
n3:rokUplatneniVysledku
n19:2013
n3:tvurceVysledku
Moog, C. H. Anderle, Milan Čelikovský, Sergej
n3:typAkce
n18:EUR
n3:zahajeniAkce
2013-07-17+02:00
s:numberOfPages
8
n17:hasPublisher
IEEE
n12:isbn
978-3-9524173-4-8