For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and f...
— We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured to g...
An implementation of a biped robot which as capable of dynamic walking by a simple nonlinear control algorithm. is presented. Four D.C. servo motors actuate the knee and ankle joi...
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with ...
Umashankar Nagarajan, George Kantor, Ralph L. Holl...
— We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs o...
Alessandro De Luca, Giuseppe Oriolo, Paolo Robuffo...