Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

DOI10.1016/J.JFRANKLIN.2024.107086zbMATH Open1546.9309MaRDI QIDQ6611297FDOQ6611297

Authors: Sergej Čelikovský, Milan Anderle 

Publication date: 26 September 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Recommendations

• Composite control of the \(n\)-link chained mechanical systems
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zbMATH Keywords

chained mechanical systems walkingstate and feedback equivalence

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Feedback control (93B52) Transformations (93B17)

Cites Work

• Geometric homogeneity with applications to finite-time stability
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Nonlinear control of mechanical systems with an unactuated cyclic variable
• The dynamics of systems with servoconstraints. I
• Normal forms for underactuated mechanical systems with symmetry
• Models, feedback control, and open problems of 3D bipedal robotic walking
• Global inverse function theorems
• Advanced LMI based analysis and design for Acrobot walking

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