Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
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
Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3133823
Abstract: This article presents a method to design a nonholonomic virtual constraint (NHVC) controller that produces multiple distinct stance-phase trajectories for corresponding walking speeds. NHVCs encode velocity-dependent joint trajectories via momenta conjugate to the unactuated degree(s)… read more here.
Keywords: walking speeds; nonholonomic virtual; powered prostheses; stance phase ... See more keywords