Virtual holonomic constraint approach for planar bipedal walking robots extended to double support

Abstract

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 appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper… (More)
DOI: 10.1109/CDC.2009.5400535

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@article{Scheint2009VirtualHC, title={Virtual holonomic constraint approach for planar bipedal walking robots extended to double support}, author={Michael Scheint and Marion Sobotka and Martin Buss}, journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference}, year={2009}, pages={8180-8185} }