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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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| Publicado en: | Proc IEEE Conf Decis Control |
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| Autor Principal: | |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado: |
2011
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| Assuntos: | |
| Acceso en liña: | 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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