Skip to main content

2 Result(s)

within Vibration, Dynamical Systems, Control Remove this filter Oussama Khatib Remove this filter Article Remove this filter

and

  1. No Access

    Article

    Task-level approaches for the control of constrained multibody systems

    This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is r...

    Vincent De Sapio, Oussama Khatib, Scott Delp in Multibody System Dynamics (2006)

  2. No Access

    Article

    Least action principles and their application to constrained and task-level problems in robotics and biomechanics

    Least action principles provide an insightful starting point from which problems involving constraints and task-level objectives can be addressed. In this paper, the principle of least action is first treated wi...

    Vincent De Sapio, Oussama Khatib, Scott Delp in Multibody System Dynamics (2008)