Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Ramil Khusainov"'
Publikováno v:
Sensors, Vol 21, Iss 18, p 6312 (2021)
In this paper, an orthogonal decomposition-based state observer for systems with explicit constraints is proposed. State observers have been an integral part of robotic systems, reflecting the practicality and effectiveness of the dynamic state feedb
Externí odkaz:
https://doaj.org/article/cde90ea185c148958cedceb0946a9e80
Publikováno v:
Computer Research and Modeling. 12:155-170
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::84ec1c045a5107bc7017b250ed81445d
https://doi.org/10.20537/2076-7633-2020-12-1-155-170
https://doi.org/10.20537/2076-7633-2020-12-1-155-170
Publikováno v:
CASE
Underactuated mechanical systems are well-known for the challenges they pose to motion planning and control. In particular, the motion planner for these systems must take into account their dynamics, while the controller has to stabilize all degrees
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0f263e505011d419a68689e6cbab5dab
https://doi.org/10.1109/case49439.2021.9551396
https://doi.org/10.1109/case49439.2021.9551396
Publikováno v:
IFAC-PapersOnLine. 53:8953-8958
Hybrid zero dynamics is an established theoretical framework that allows to perform dynamic legged locomotion by enforcing virtual constraints through feedback controllers. One of the major functions of the framework is finding virtual constraints th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ca10ca34eaec15c1d929fd5f5efdbc85
https://doi.org/10.1016/j.ifacol.2020.12.1481
https://doi.org/10.1016/j.ifacol.2020.12.1481
Autor:
A. Maloletov, Ramil Khusainov, Sergei V. Gusev, Sh. Mamedov, Anton S. Shiriaev, Alexandr Klimchik
Publikováno v:
IFAC-Papers
The paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of arguments of motion planning me
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::56186e9a4871ab959dcb722476477a76
https://doi.org/10.1016/j.ifacol.2020.12.2378
https://doi.org/10.1016/j.ifacol.2020.12.2378
Publikováno v:
Vestnik of Saint Petersburg University. Mathematics. Mechanics. Astronomy. 6:544-554
The paper focuses on a comprehensive discussion of G. A. Leonov’s results aimed at analyzing the Zhukovsky stability of a solution to a nonlinear autonomous system by linearization. The main contribution is deriving the linear system that approxima
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::7b686e375f48f86120b1512273e8fa9c
https://doi.org/10.21638/11701/spbu01.2019.402
https://doi.org/10.21638/11701/spbu01.2019.402
Publikováno v:
IFAC-PapersOnLine. 52:713-718
In this paper, a new model of variable stiffness actuators (VSA) is presented. In the proposed model, the stiffness and deformation of the elastic element can be controlled independently. The structure of the model allows the use of optimal control m
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f66be2ea8439580bfb635a2b742490e5
https://doi.org/10.1016/j.ifacol.2019.11.199
https://doi.org/10.1016/j.ifacol.2019.11.199
Publikováno v:
Mekhatronika, Avtomatizatsiya, Upravlenie. 19:633-641
This paper presents an algorithm for stable bipedal walking control along an arbitrary curve. The algorithm starts with a foot planner, which takes a parametrically defined desired path as an input and calculates feet positions and orientations at ea
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::87f2617e247952095e1435471019cd87
https://doi.org/10.17587/mau.19.633-641
https://doi.org/10.17587/mau.19.633-641
Publikováno v:
Sensors (Basel, Switzerland)
Sensors, Vol 21, Iss 6312, p 6312 (2021)
Sensors
Volume 21
Issue 18
Sensors, Vol 21, Iss 6312, p 6312 (2021)
Sensors
Volume 21
Issue 18
In this paper, an orthogonal decomposition-based state observer for systems with explicit constraints is proposed. State observers have been an integral part of robotic systems, reflecting the practicality and effectiveness of the dynamic state feedb
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::52698e46750e1537984739c944d4148c
https://doi.org/10.3390/s21186312
https://doi.org/10.3390/s21186312
Publikováno v:
2019 3rd School on Dynamics of Complex Networks and their Application in Intellectual Robotics (DCNAIR).
In this paper we present a technique for finding periodic gaits for five-link planar bipedal robot with point feet. Unlike most works that are limited to the consideration of only underactuated single support phase (SSP) we show that this phase chang
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::7efe71fe0d4c2933ef98df8619abf518
https://doi.org/10.1109/dcnair.2019.8875546
https://doi.org/10.1109/dcnair.2019.8875546