Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking
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DOI: 10.1109/lra.2020.2977263
Abstract: This letter presents a method of designing relative-degree-two nonholonomic virtual constraints (NHVCs) that allow for stable bipedal robotic walking across variable terrain slopes. Relative-degree-two NHVCs are virtual constraints that encode velocity-dependent walking gaits via momenta… read more here.
Keywords: nonholonomic virtual; robotic walking; bipedal robotic; constraint design ... See more keywords