Browsing NTNU Open by Author "Pande, Fredrik"
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Planning Gaits for Underactuated Compass-Biped Robot With Torso
Pande, Fredrik (Master thesis, 2016)A structured approach to gait planning for a planar underactuated 3-link biped robot is presented. The method of virtual holonomic constraints (VHC) is employed to this end. It is shown how this method effectively reduces ...