Bibliography
Conference Paper (international conference)
On the equivalence of the three-link to the almost linear form
,
: Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022
: 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