87 search results - page 1 / 18 » Control of a bicycle using virtual holonomic constraints |
CDC
2010
IEEE
12 years 11 months ago
2010
IEEE
The problem of making a bicycle trace a strictly convex Jordan curve with bounded roll angle and bounded speed is investigated. The problem is solved by enforcing a virtual holonom...
CDC
2008
IEEE
13 years 11 months ago
2008
IEEE
— A planar compass-like biped on a shallow slope is the simplest model of a passive walker. It is a two-degrees-offreedom impulsive mechanical system known to possess periodic so...
CDC
2009
IEEE
13 years 8 months ago
2009
IEEE
The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An...
IROS
2007
IEEE
13 years 10 months ago
2007
IEEE
— Two feedback controllers that induce stable running gaits on a three-degree-of-freedom asymmetric hopper, termed the Asymmetric Spring Loaded Inverted Pendulum (ASLIP), see Fig...
IROS
2008
IEEE
13 years 11 months ago
2008
IEEE
Abstract— In this paper, we present a framework that enables an operator to haptically and visually interact with a dynamic simulation subject to virtual holonomic constraints. T...