CDC
2010
IEEE
13 years 2 months ago
2010
IEEE
Abstract-- This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar bipe...
SIMPAR
2010
13 years 6 months ago
2010
Stability of bipedal locomotion is analyzed using a model of a planar biped written in the framework of systems with unilateral constraints. Based on this model, two different sta...
HYBRID
2009
Springer
13 years 11 months ago
2009
Springer
A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the...