Abstract: In this paper, we address a particular flavor of the motion planning problem, that is, the gait generation problem for underactuated variable ...

In this paper, we generate gaits for mixed systems, that is, dynamic systems that are subject to a set of non-holonomic constraints.

In this paper, we generate gaits for mixed systems, that is, dynamic systems that are subject to a set of nonholonomic constraints.

In this paper, we generate gaits for mixed systems, that is, dynamic systems that are subject to a set of non-holonomic constraints.

In this paper, we generate gaits for mixed systems, that is, dynamic systems that are subject to a set of nonholonomic constraints.

In this paper, we generate gaits for mixed systems, that is, dynamic systems that are subject to a set of non-holonomic constraints.

CONCLUSION. We presented controllability and kinematic reduc- tion for a variable inertia mechanical system with drift. We used the symmetry of angular momentum.

Jul 23, 2024 · This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and ...

The number of flat variables is equal to the number of actuated DOFs. The relationship between state variables and flat variables is called diffeomorphism [17].

Abstract. This paper deals with an optimal motion planning method for mechanical systems subjected to velocity and acceleration constraints in the presence ...