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eess.SY2022
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…
eess.SY2022
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…