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Abstract

Underactuated Walking Control via the Kinetic Symmetry

Čelikovský Sergej

: Abstracts of the 7th International Conference on Mathematical Modeling, p. 6-7

: International Conference on Mathematical Modeling /7./, (Yakutsk, RU, 30.06.2014-04.07.2014)

: Kinetic symmetry, virtual constraint, underactuated walking

(eng): Underactuated mechanical sysxtems are those having less actuators than degrees of freedom. Therefore, their control requires intrinsically nonlinear techniques. Among them, various kinds of exact feedback linearization and nonlinear decompositions are useful.

: BC

2019-01-07 08:39