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Seminář Collocated virtual holonomic constraints in the underactuated walking design with the multi-step hybrid stability


prof. RNDr. Sergej Čelikovský, CSc. (UTIA AV ČR, Praha)

Datum akce: 
Středa, 6. Prosinec 2017 - 13:00 - 15:30

This seminar will present the concept of the so-called collocated virtual holonomic constraints and its application in the underactuated hybrid stable multi-step walking design. To demonstrate this approach, the so-called four link will be considered in detail and the analysis of the hybrid stability of its pre-designed walking-like trajectory and its feedback tracking controller will be presented. The four link is a planar mechanical chain having four degrees of freedom and three actuators placed between its links. In such a way it resembles a pair of legs with knees. The proof of hybrid stability is based on computing the appropriate Poincaré map linear approximation and showing numerically that its eigenvalues are inside the unit circle  of complex plane. Unlike the frequent approach in robotic walking showing the stable path following, nature of our designed trajectory enables to prove its tracking including the time dependence. The tested trajectory and the feedback controller were obtained via combination of the design for the so-called Acrobot and suitable selected collocated holonomic constraints enforced by feedback imposed in knees actuators. Finally, the simulations and animation will be presented. They demonstrate the hybrid stability of 150 steps of  the four link having lengths and masses corresponding to the existing laboratory model built in ÚTIA AV ČR.

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