1 citations · 2 across the 6 of their papers we have counts for
6 papers
Planar Juggling of a Devil-Stick using Discrete VHCs
Aakash Khandelwal, Ranjan Mukherjee
Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the d…
Discrete VHCs for Propeller Motion of a Devil-Stick using purely Impulsive Inputs
Aakash Khandelwal, Ranjan Mukherjee
The control problem of realizing propeller motion of a devil-stick in the vertical plane using impulsive forces applied normal to the stick is considered. This problem is an exampl…
Propeller Motion of a Devil-Stick using Normal Forcing
Aakash Khandelwal, Ranjan Mukherjee
The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensi…
A Two-Dimensional Map of Arbitrary Period
Aakash Khandelwal, Ranjan Mukherjee
We introduce a two-dimensional discrete-time dynamical system which represents the evolution of an angle and angular velocity. While the angle evolves by a fixed amount in every st…
Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds
Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee
The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to d…
Nonprehensile Manipulation of a Stick Using Impulsive Forces
Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee
The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a se…