4. Under-actuated and fully-actuated planar robots
Hybrid dynamic zeros for hybrid systems
The concept of the zero dynamics equation is introduced by Byrnes and Isidori . This equation characterizes the internal dynamics of the system when the control holds the outputs at zero such that :
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Under-actuated and fully-actuated planar robots
Under-actuated and fully-actuated planar robots
3D humanoid robots: stability and Poincaré analysis
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