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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F13%3A00208376%21RIV14-GA0-21230___
rdf:type
skos:Concept n17:Vysledek
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/68407700:21230/13:00208376!RIV14-GA0-21230___
n17:predkladatel
n18:orjk%3A21230
n3:aktivita
n19:P
n3:aktivity
P(GAP103/12/1794)
n3:dodaniDat
n4:2014
n3:domaciTvurceVysledku
n12:1589237
n3:druhVysledku
n9:D
n3:duvernostUdaju
n21:S
n3:entitaPredkladatele
n15:predkladatel
n3:idSjednocenehoVysledku
72631
n3:idVysledku
RIV/68407700:21230/13:00208376
n3:jazykVysledku
n13:eng
n3:klicovaSlova
nonlinear control; walking robots
n3:klicoveSlovo
n11:nonlinear%20control n11:walking%20robots
n3:kontrolniKodProRIV
[2905F200C9F5]
n3:mistoKonaniAkce
Zurich
n3:mistoVydani
Zurich
n3:nazevZdroje
Proceedings of the European Control Conference
n3:obor
n7:BC
n3:pocetDomacichTvurcuVysledku
1
n3:pocetTvurcuVysledku
3
n3:projekt
n14:GAP103%2F12%2F1794
n3:rokUplatneniVysledku
n4:2013
n3:tvurceVysledku
Moog, C. H. Anderle, Milan Čelikovský, Sergej
n3:typAkce
n16:WRD
n3:zahajeniAkce
2013-07-17+02:00
s:numberOfPages
8
n20:hasPublisher
European Control Association
n22:isbn
978-3-033-03962-9
n8:organizacniJednotka
21230