Partial exact linearization design for the Acrobot walking

A new control concept for a class of simple underactuated mechanical system, the so-called acrobot, is presented here. Despite being seemingly a simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system - the walking robot. This paper...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Celikovsky, S., Zikmund, J., Moog, C.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Chromium Control systems exact feedback linearization Feedback Lagrangian functions Legged locomotion Mechanical systems Numerical simulation Robustness Target tracking Trajectory underactuated system walking robots
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