Bibliography

Conference Paper (international conference)

Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking

: Proceedings of the 11th Asian Control Converence (ASCC) 2017, p. 192-197

: The 11th Asian Control Conference (ASCC) 2017, (Gold Coast, AU, 20171217)

: Hamiltonian approach, Collocated virtual holonomic constraints, Underactuated walking

: 10.1109/ASCC.2017.8287165

(eng): Hamiltonian representation of the so-called collocated virtual holonomic constraints is studied here to provide an alternative algorithm to enforce these constraints by feedback. Its efficiency is demonstrated by the walking design for the planar underactuated mechanical four-link chain.

: BC

: 10201