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A two-link planar biped system under the influence of holo nomic ( connection) constraints with constraints not in effect and in effect is investigated in this paper. The use of quadratic Lyapunov functions to construct the feedback strategies for maintaining stability in the vicinity of an operating point is presented. The role of the different inputs in opposing gravity, maintaining connection constraints, and moving the system is delineated. Finally, the effectiveness of this methodology and one of its applications are demonstrated via some digital computer simulations.
Hemami et al. (Fri,) studied this question.
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