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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...
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis...
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...
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...