FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W1571609304> ?p ?o ?g. }

• W1571609304 abstract "We consider a two-link biped, a three-link biped, and a five-link planar biped without feet (with “point feet”). Their ankles are not actuated. The control torques are applied to the bipeds in the inter-link joints only. Then this family of bipeds is under actuated when only one leg tip touches the ground. It is difficult to control the walking of this kind of bipeds because they are statically unstable in single support. For example the vertical posture of these bipeds in single support is an unstable equilibrium state, as an equilibrium state of inverted pendulum. The operations of stabilization for the biped vertical posture, of balancing around this equilibrium posture, using only the inter-link torques, are also difficult. These problems are interesting from the point of view of dynamical stabilization of walking for bipeds with motions in saggital plane or (and) in frontal plane. They are also interesting from the biomechanical point of view. In the chapter, the problem of stabilization of the vertical posture for each mentioned above biped is studied. For each biped, a control law to stabilize the vertical posture is designed. Among the mechanical systems, the under actuated systems, which have fewer controls than configuration variables, represent a great challenge for the control. An active field of research exists, due to the applications of under actuated systems such as aircrafts, satellites, spacecrafts, flexible robots, inverted pendulums, legged robots. The under actuated systems are characterized by the under-actuation degree, which is the difference between the numbers of configuration variables and controls. The under-actuation degree for all our studied bipeds equals one in single support. The control laws to stabilize the vertical posture are designed, using the biped linear models and their associated Jordan forms. The feedback is synthesized to suppress the unstable modes. The restrictions imposed to the torques are taken into account explicitly. Thus, feedback control laws with saturation are designed. It is important for an unstable system to maximize the basin of attraction. Using the Jordan form to design the control law, we can obtain a large basin of attraction of equilibrium state." @default.
• W1571609304 created "2016-06-24" @default.
• W1571609304 creator A5035774557 @default.
• W1571609304 date "2006-12-01" @default.
• W1571609304 modified "2023-09-23" @default.
• W1571609304 title "Biped without Feet in Single Support: Stabilization of the Vertical Posture with Internal Torques" @default.
• W1571609304 cites W1487127700 @default.
• W1571609304 cites W1982961388 @default.
• W1571609304 cites W2030515455 @default.
• W1571609304 cites W2049080811 @default.
• W1571609304 cites W2071652010 @default.
• W1571609304 cites W2076420009 @default.
• W1571609304 cites W2128131727 @default.
• W1571609304 cites W2137547873 @default.
• W1571609304 cites W2141092097 @default.
• W1571609304 cites W2158116627 @default.
• W1571609304 cites W2158606681 @default.
• W1571609304 cites W2365718172 @default.
• W1571609304 cites W3198705616 @default.
• W1571609304 doi "https://doi.org/10.5772/4683" @default.
• W1571609304 hasPublicationYear "2006" @default.
• W1571609304 type Work @default.
• W1571609304 sameAs 1571609304 @default.
• W1571609304 citedByCount "0" @default.
• W1571609304 crossrefType "book-chapter" @default.
• W1571609304 hasAuthorship W1571609304A5035774557 @default.
• W1571609304 hasBestOaLocation W15716093041 @default.
• W1571609304 hasConcept C121332964 @default.
• W1571609304 hasConcept C127313418 @default.
• W1571609304 hasConcept C144171764 @default.
• W1571609304 hasConcept C154945302 @default.
• W1571609304 hasConcept C2775924081 @default.
• W1571609304 hasConcept C41008148 @default.
• W1571609304 hasConcept C47446073 @default.
• W1571609304 hasConcept C71924100 @default.
• W1571609304 hasConcept C97355855 @default.
• W1571609304 hasConcept C99508421 @default.
• W1571609304 hasConceptScore W1571609304C121332964 @default.
• W1571609304 hasConceptScore W1571609304C127313418 @default.
• W1571609304 hasConceptScore W1571609304C144171764 @default.
• W1571609304 hasConceptScore W1571609304C154945302 @default.
• W1571609304 hasConceptScore W1571609304C2775924081 @default.
• W1571609304 hasConceptScore W1571609304C41008148 @default.
• W1571609304 hasConceptScore W1571609304C47446073 @default.
• W1571609304 hasConceptScore W1571609304C71924100 @default.
• W1571609304 hasConceptScore W1571609304C97355855 @default.
• W1571609304 hasConceptScore W1571609304C99508421 @default.
• W1571609304 hasLocation W15716093041 @default.
• W1571609304 hasOpenAccess W1571609304 @default.
• W1571609304 hasPrimaryLocation W15716093041 @default.
• W1571609304 hasRelatedWork W1485761249 @default.
• W1571609304 hasRelatedWork W2056994346 @default.
• W1571609304 hasRelatedWork W2099351328 @default.
• W1571609304 hasRelatedWork W2165687019 @default.
• W1571609304 hasRelatedWork W2380803598 @default.
• W1571609304 hasRelatedWork W2502203919 @default.
• W1571609304 hasRelatedWork W2533740664 @default.
• W1571609304 hasRelatedWork W2593842278 @default.
• W1571609304 hasRelatedWork W2969769538 @default.
• W1571609304 hasRelatedWork W2995821752 @default.
• W1571609304 isParatext "false" @default.
• W1571609304 isRetracted "false" @default.
• W1571609304 magId "1571609304" @default.
• W1571609304 workType "book-chapter" @default.