Virtual constraint generators for motion control of robots with degree of underactuation one
Author:
Funder
Natural Sciences and Engineering Research Council of Canada
Publisher
Elsevier BV
Subject
Electrical and Electronic Engineering,Control and Systems Engineering
Reference32 articles.
1. Time-optimal control of robotic manipulators along specified paths;Bobrow;International Journal of Robotics Research,1985
2. Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems;Bullo;IEEE Transactions on Robotics and Automation,2001
3. Rabbit: A testbed for advanced control theory;Chevallereau;IEEE Control Systems Magazine,2003
4. Asymptotically stable walking of a five-link underactuated 3-D bipedal robot;Chevallereau;IEEE Transactions on Robotics,2009
5. A coordinate-free theory of virtual holonomic constraints;Consolini;Journal of Geometric Mechanics,2018
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