Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking

被引：0
|
作者：
Celikovsky, Sergej [1 ]
Anderle, Milan [1 ]
机构：
[1] Czech Acad Sci, Inst Informat Theory & Automat, Pod Vodarenskou Vezi 4, Prague 18208, Czech Republic
来源：
2017 11TH ASIAN CONTROL CONFERENCE (ASCC) | 2017年
关键词：
MECHANICAL SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Hamiltonian representation of the so-called collocated virtual holonomic constraints is studied here to provide an alternative algorithm to enforce these constraints by feedback. Its efficiency is demonstrated by the walking design for the planar underactuated mechanical four-link chain.
引用
收藏
页码：192 / 197
页数：6
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