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BASIC CONCEPTS AND DEFINITIONS
DYNAMICS OF RIGID BODY SYSTEMS WITH APPLI
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algorithm analysis Appendix approach approximation assumed bang-bang control biped locomotion Chapter characteristics CJ CJ considered constraints Controls and Relative convergence coupled rigid bodies cycle defined degrees of freedom developed differential equations DLS phase Dominant Term Amplitude dynamic programming estimate Euler angles evaluated feedback control Figure foot angle foot placement footprint forces and moments FOURIER COEFFICIENTS Fourier series gait given Human Motion inertial internal variables iteration kinematic kinesiology Liapunov Liapunov functions linear loci mathematical matrix maximum principle minimizing minimum nonlinear notation objective function obtained Open-Loop Control optimal control optimal trajectory parameters perturbation physical problem relations Relative Motions 0.0 rigid body systems Robot Locomotion rotation satisfy solved space stability subroutine support base support controls support locus support point synthesis System Dominant Term Term Amplitude Phase thesis tion Trajectory and Ideal usually values variational methods vector Wisconsin