"2011-06-30+02:00"^^ . "0"^^ . "0"^^ . . "Stabilization" . . . "Projekt \u00A0rozv\u00EDjel st\u00E1vaj\u00EDc\u00ED teorii a praktick\u00E9 postupy n\u00E1vrhu neline\u00E1rn\u00EDch \u0159\u00EDzen\u00FDch syst\u00E9m\u016F pomoc\u00ED maxim\u00E1ln\u00ED \u010D\u00E1ste\u010Dn\u00E9 linearizace, a to tak, aby mohly b\u00FDt\u00A0 pou\u017Eity k\u00A0n\u00E1vrhu \u0159\u00EDzen\u00ED mechanick\u00FDch \u0159et\u011Bzc\u016F s\u00A0ne\u00FApln\u00FDm pohonem."@cs . "http://www.isvav.cz/projectDetail.do?rowId=MEB020906"^^ . "2009-01-01+01:00"^^ . "2010-07-15+02:00"^^ . . "C\u00EDlem projektu je rozvinout st\u00E1vaj\u00EDc\u00ED teorii a praktick\u00E9 postupy n\u00E1vrhu neline\u00E1rn\u00EDch \u0159\u00EDzen\u00FDch syst\u00E9m\u016F pomoc\u00ED maxim\u00E1ln\u00ED \u010D\u00E1ste\u010Dn\u00E9 linearizace, a to tak, aby mohly b\u00FDt pou\u017Eity k n\u00E1vrhu \u0159\u00EDzen\u00ED mechanick\u00FDch \u0159et\u011Bzc\u016F s ne\u00FApln\u00FDm pohonem. U t\u011Bchto syst\u00E9m\u016F je po\u010Det stup\u0148\u016F volnosti vy\u0161\u0161\u00ED ne\u017E po\u010Det ak\u010Dn\u00EDch \u010Dlen\u016F, co\u017E je na jedn\u00E9 stran\u011B p\u0159irozen\u00FD praktick\u00FD po\u017Eadavek, na druh\u00E9 stran\u011B to vy\u017Eaduje pou\u017Eit\u00ED a rozvinut\u00ED n\u00E1ro\u010Dn\u00FDch neline\u00E1rn\u00EDch postup\u016F p\u0159i n\u00E1vrhu. P\u0159\u00EDkladem takov\u00E9ho syst\u00E9mu je kr\u00E1\u010Dej\u00EDc\u00ED robot. Kr\u00E1\u010Dej\u00EDc\u00ED robot je slo\u017Eit\u00E9 technick\u00E9 za\u0159\u00EDzen\u00ED, jeho\u017E c\u00EDlem je pohyb na principu lidsk\u00E9 ch\u016Fze. P\u0159i jeho sestrojen\u00ED je t\u0159eba \u0159e\u0161it \u0159adu teoretick\u00FDch i praktick\u00FDch probl\u00E9m\u016F: hybridn\u00ED dynamick\u00FD model odr\u00E1\u017Eej\u00EDc\u00ED n\u00E1hl\u00E9 (idealizovan\u011B nespojit\u00E9) p\u0159enesen\u00ED v\u00E1hy z jedn\u00E9 \u201Enohy\u201C na druhou, pot\u0159eba autonomn\u00EDho a hierarchick\u00E9ho \u0159\u00EDzen\u00ED v re\u00E1ln\u00E9m \u010Dase, a mnoho dal\u0161\u00EDch. V tomto smyslu slou\u017E\u00ED jako impuls pro dal\u0161\u00ED rozvoj teorie \u0159\u00EDzen\u00ED dynamick\u00FDch syst\u00E9m\u016F, i jako n\u00E1ro\u010Dn\u00E1 zkou\u0161ka pro ji\u017E zaveden\u00E9 postupy n\u00E1vrhu. Prototypy kr\u00E1\u010Dej\u00EDc" . " walking robots" . . "2010-12-31+01:00"^^ . "Stabilization of the underactuated mechanical chain systems and its application for the control of walking robots"@en . . "Project was developing the theory and practical methodology for the nonlinear control systems design based on approximate linearization in order to be applicable to design the control of the underactuated mechanical chains."@en . "The goal of the project is to develop exisiting approaches to nonlinear control based on partial exact feedback linearization to be applicable for the control of the underactuated mechanical chain systems. Example of such a system is the walking robot. Developed nonlinear approaches will be therefore applied to walking robots and some result tested on laboratory equipement in robotic laboratory in IRCCyN Nantes."@en . . . "MEB020906" . . "Stabilization; walking robots; underactuated systems"@en . . "Stabilizace podaktuaovan\u00FDch mechanick\u00FDch \u0159et\u011Bzc\u016F a jej\u00ED vyu\u017Eit\u00ED k \u0159\u00EDzen\u00ED kr\u00E1\u010Dej\u00EDc\u00EDch robot\u016F." . . "0"^^ . . . . . . . . "1"^^ . "0"^^ .