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  • A Port-Based Approach
    Vincent Duindam; Stefano Stramigioli
    978-3-540-89918-1
    2009
    Edition 1
    • Presents a complete framework for modeling, analysis, and control of walking robots and complex mechanical systems in general
    • Provides tools and methods to analyze and improve the design of passive or almost- passive walking robots
    • Gives an introduction to the use of port-Hamiltonian concepts in mechanics and robotics
    • Extends classical dynamics equations for multibody systems to handle more general joints
    • Includes supplementary material: sn.pub/extras

    €280

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