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Controlled Reduction of a Five-Link 3D Biped with Unactuated Yaw

This paper presents a formulation of controlled geometric reduction with one degree of underactuation for mechanical systems with an unactuated cyclic variable subject to passive damping. We show that the first control term in the fully actuated case reduces to passive joint-velocity feedback, which...

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Detalhes bibliográficos
Publicado no:Proc IEEE Conf Decis Control
Autor principal: Gregg, Robert D.
Formato: Artigo
Idioma:Inglês
Publicado em: 2011
Assuntos:
Acesso em linha:https://ncbi.nlm.nih.gov/pmc/articles/PMC4319676/
https://ncbi.nlm.nih.gov/pubmed/25663742
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/CDC.2011.6160848
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