Browsing Waterloo Research by Author "Al Lawati, Mohamed"
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Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot
Al Lawati, Mohamed; Nielsen, Christopher (IEEE, 2015-06-25)We apply virtual holonomic constraints (VHCs) to a fully actuated Euler-Lagrange system with impacts : a bipedal walking robot consisting of a stance leg, swing leg and hip mass. We call these hybrid virtual holonomic ...