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Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F14%3A00435096%21RIV15-GA0-67985556
rdf:type
n7:Vysledek skos:Concept
dcterms: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.
dcterms: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
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
skos:notation
RIV/67985556:_____/14:00435096!RIV15-GA0-67985556
n3:aktivita
n5:I n5:P
n3:aktivity
I, P(GAP103/12/1794)
n3:dodaniDat
n17:2015
n3:domaciTvurceVysledku
n9:1589237 n9:1424181
n3:druhVysledku
n12:D
n3:duvernostUdaju
n18:S
n3:entitaPredkladatele
n4:predkladatel
n3:idSjednocenehoVysledku
9509
n3:idVysledku
RIV/67985556:_____/14:00435096
n3:jazykVysledku
n13:eng
n3:klicovaSlova
Underactuated systems; Generalized Acrobot; Walking trajectory design
n3:klicoveSlovo
n11:Underactuated%20systems n11:Generalized%20Acrobot n11:Walking%20trajectory%20design
n3:kontrolniKodProRIV
[09350319D1FF]
n3:mistoKonaniAkce
Santiago de Chile
n3:mistoVydani
Santiago de Chile
n3:nazevZdroje
Proceedings of the XXIst Congreso ACCA 2014
n3:obor
n10:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n6:GAP103%2F12%2F1794
n3:rokUplatneniVysledku
n17:2014
n3:tvurceVysledku
Anderle, Milan Čelikovský, Sergej
n3:typAkce
n16:WRD
n3:zahajeniAkce
2014-11-05+01:00
s:issn
0719-5567
s:numberOfPages
6
n19:hasPublisher
ACCA