Search for dissertations about: "Ambarish Goswami"

Found 1 swedish dissertation containing the words Ambarish Goswami.

2. 1. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control

   Author : Pedro La Hera; Anton Shiriaev; Ambarish Goswami; Umeå universitet; []
   Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Underactuated mechanical systems; mechanical systems with impacts; trajectory planning; periodic trajectories; orbital stabilization; walking robots; virtual holonomic constraints; transverse linearization; Automatic control; Reglerteknik; Automatic Control; reglerteknik;

   Abstract : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. READ MORE