Publication:6038855

DOI10.1007/s00332-023-09905-1zbMath1521.70009OpenAlexW4362604319MaRDI QIDQ6038855

Mark Hermes, Mitul Luhar

Publication date: 3 May 2023

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00332-023-09905-1

zbMATH Keywords

rotationnonlinearitytranslationgait optimizationcyclic time-varying limb length variationphased controltime-varying normal contact force

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Review and comparison of dry friction force models
• Friction models and friction compensation
• Geometric phases and robotic locomotion

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