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: Linear free vibrations are completely characterized by their eigen-frequencies and eigenmodes. However, in engineering applications the amplitudes of a vibrating system have to be bounded, too. ...

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 ...