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.2024.107086MaRDI QIDQ6611297zbMATH OpenFDO

Authors Sergej Čelikovský, Milan Anderle

Publication date 26 September 2024

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

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)

Recommendations

• Composite control of the \(n\)-link chained mechanical systems
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Cites work

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

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