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Conference Paper (international conference)

On the equivalence of the three-link to the almost linear form

Čelikovský Sergej, Anderle Milan

: Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022, 9905468

: IEEE Workshop on Complexity in Engeneering 2022 /6./, (Florence, IT, 20220718)

: GA21-03689S, GA ČR

: mechanical systems, feedback linearization, legged locomotion

: 10.1109/COMPENG50184.2022.9905468

: http://library.utia.cas.cz/separaty/2022/TR/celikovsky-0559544.pdf

: https://ieeexplore.ieee.org/document/9905468

(eng): The almost linear form that is state and feedback equivalent to the dynamics of the so-called three-link (aka biped with torso) is derived and proved here. This result is then applied to the walking design with downward torso movement imitating balancing role of a hand. This motivates a challenging idea: the balancing role of hands in two-dimensional walking consists in synchronizing the hand angle with the hip angle in such a way that the resulting restricted dynamics is exact feedback linearizable. Results are demonstrated by the simulations of a single step including walking animations.

: BC

: 20205

07.01.2019 - 08:39