Sentence examples for virtual constraints from inspiring English sources

The state transition "settling" is developed within the virtual constraints framework.

This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints (VCs).

Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal.

The concept of virtual constraints control proposed by Shiriaev et. al. The model-following control is useful to realize the tracking system to a given reference model.

Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal evolution, will be proposed for achieving asymptotic convergence toward a periodic motion.

Using this configuration and the control method based on virtual constraints and feedback linearization, the walking stability can be verified by the restricted scalar Poincaré map of the zero dynamics of the system, and periodic gaits can be obtained analytically as in the case of planar bipeds with point feet.

Then, in order to stabilize the energy level corresponding to the high-high equilibrium while preserving the invariance of the virtual constraint, we dynamically change the geometry of the constraint.

Once the valid virtual constraint has been found with the proposed method, the earlier developed techniques can be applied in order to design an orbitally stabilizing feedback control law.

The first layer, a virtual-constraint layer, is responsible for enabling/disabling the user commands, based on context.

The virtual storage constraints contains on/off state constraints in (21), the temperature constraints in (22), and switch state transition constraints in (23).

For trajectory planning using virtual holonomic constraints, we define the constraint manifold associated with the constraint functions (47) as Γ = x ̂, x ̂ ̇ ∈ T Q ̂ : q i = Φ i η, ϕ o, θ N = Φ N p y, q ̇ i = η ̇ ∂ Φ i ∂η + ϕ ̇ o ∂ Φ i ∂ ϕ o, θ ̇ N = p ̇ y ∂ Φ N ∂ p y (48).