Abstract: The paper presents a unified approach to the dynamic analysis of mechanical systems subject to (ideal) holonomic and/or nonholonomic constraints. The approach is based on the projection of the ...

Abstract: The paper deals with the synthesis of control for impactless bipedal walking. In order to avoid impacts, both the specified motion of the biped and its ground reactions are controlled, yielding ...

Abstract: A method is proposed for the automatic generation of an orthogonal complement matrix to the constraint matrix for the dynamic analysis of constrained multibody systems. The clue for this method ...