Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking

Jonathan C. Horn, Alireza Mohammadi, Kaveh Akbari Hamed, Robert D. Gregg. Nonholonomic Virtual Constraint Design for Variable-Incline Bipedal Robotic Walking. IEEE Robotics and Automation Letters, 5(2):3691-3698, 2020. [doi]

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