Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable <ce:cross-ref refid='fn1'> <ce:sup loc='post'>?</ce:sup> </ce:cross-ref>

Sergej ?elikovsky; Milan Anderle

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Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable ?

机译：用于三连杆平面的稳定行走机器，具有两个基于搭配的虚拟定性约束的两个执行器和循环unweation变量？< / ce：sup>

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Paper presents the current state of the laboratory model of the planar walking robot built in laboratory in UTIA. Moreover, it presents simulation results of the walkinglike movement of the simplified version - the so-called three-link, alternatively also called Acrobot with torso. Method for the walking design is based on the use of the collocated virtual holonomic constraints. Collocated constraints include the directly actuated variables only. Restricted system then conserves cyclic property of the unactuated variable and can be controlled using its three dimensional exact feedback linearization.

机译：论文介绍了在utia实验室内建造的平面行走机器人实验室模型的现状。此外，它提出了简化版本的步行运动的模拟结果 - 所谓的三连杆，也称为躯干的杂技。步行设计的方法基于使用并置的虚拟定性约束的使用。并置约束仅包括直接启动的变量。然后限制系统保存unisuatib变量的循环性能，可以使用其三维精确反馈线性化来控制。

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《IFAC PapersOnLine》 |2018年第22期|共8页
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Sergej ?elikovsky; Milan Anderle;
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Hamiltonian methodswalking robotscollocated constraints;

机译：Hamiltonian MethodSwalking RobotsCollocated约束;

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1. Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking * * This work was supported by the Czech Science Foundation through the research grant 13-20433S. [J] . Sergej ?elikovsky, Milan Anderle IFAC PapersOnLine . 2016,第18期

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4. Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable [C] . Sergej Celikovsky, Milan Anderle IFAC Symposium on Robot Control . 2019

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Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable ?

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