Learn More
As part of an electronic educational material based on the Quiz technique, a set of TEX macros has been designed to process many examination and self-test files on personal computers (PCs). Once the Quiz answers have been stored by the students on appropriate answer-files, quick assessment can be automatically realized. So, it becomes easy to keep track of(More)
An explicit form of decoupled controls of a 2-D biped walking system is developed for use in simulation studies. The Lagrangian for an n-link 2-D biped system is first set down. The Lagrange formalism is then written as a state-space representation and a block-diagram scheme is proposed. Next, the direct nonlinear decoupling method is introduced, and an(More)