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math-ph2026
Covariant Euler-Poincaré Reduction for Field Theories on Centered Semidirect Products
Miguel Ángel Berbel, Leonardo Colombo, Álvaro Rodríguez Abella
Let be a Lie group equipped with commuting left and right linear representations on a vector space , and let be the associated centered semidirect product. We dev…
eess.SY2026
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore de…