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eess.SY2022★ 2 cited
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
Alexandre Anahory Simoes, Asier López-Gordón, Anthony Bloch +1
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical sim…
eess.SY2022★ 1 cited
Virtual Nonholonomic Constraints: A Geometric Approach
Alexandre Anahory Simoes, Efstratios Stratoglou, Anthony Bloch +1
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanic…