Virtual Constraint Design

Virtual Constraint Design is a control methodology in underactuated robot dynamics that imposes artificial geometric or dynamic relationships—through feedback or trajectory planning—to restrict the robot’s motion to a reduced-dimensional manifold, thereby stabilizing periodic or complex locomotion behaviors.

Publications

1.4K

Citations

Authors

Institutions

Publications per year

2017–2026

Parents

Underactuated Robot Dynamics

Publications

Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach

Anton Shiriaev, John W. Perram · IEEE Transactions on Automatic Control · 2005 · 325 citations

Natural Sciences, Mechanical Engineering, Systems Engineering +17

A scalable software-based self-test methodology for programmable processors

Li Chen, Srivaths Ravi, Anand Raghunathan et al. · 2003 · 110 citations

Engineering, Computer Engineering, Computer Science +16

Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints

Alireza Mohammadi, Ehsan Rezapour, Manfredi Maggiore et al. · IEEE Transactions on Control Systems Technology · 2015 · 101 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +17

Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments

Anton Shiriaev, Leonid B. Freidovich, Anders Robertsson et al. · IEEE Transactions on Robotics · 2007 · 100 citations

Engineering, Mechanical Engineering, Robotics Engineering +14

A scalable software-based self-test methodology for programmable processors

Li Chen, S. Ravi, Anand Raghunathan et al. · Proceedings 2003. Design Automation Conference (IEEE Cat. No.03CH37451) · 2004 · 98 citations

Engineering, Computer Engineering, Computer Science +16

1–5 of 31

Authors

RD
Robert D. Gregg
The University of Texas at Dallas, United States
3 publications · 113 citations
4
h-index
AS
Anton Shiriaev
Umeå University, Sweden
3 publications · 435 citations
3
h-index
DQ
David Quintero
The University of Texas at Dallas, United States
2 publications · 98 citations
2
h-index
AR
Anand Raghunathan
Princeton University, United States
2 publications · 208 citations
2
h-index
AM
Alireza Mohammadi
University of Michigan–Dearborn, United States
2 publications · 116 citations
2
h-index

1–5 of 78

Institutions

1–8 of 40

Venues

IEEE Transactions on Robotics
3 publications · 182 citations
3
h-index
IEEE Transactions on Control Systems Technology
1 publications · 101 citations
2
h-index
International Journal on Interactive Design and Manufacturing (IJIDeM)
1 publications · 51 citations
1
h-index
Robotics and Autonomous Systems
1 publications · 57 citations
1
h-index
Biomedical Signal Processing and Control
1 publications · 13 citations
1
h-index

1–5