— Programming a humanoid robot to perform an action that takes the robot’s complex dynamics into account is a challenging problem. Traditional approaches typically require high...
— In this paper, performance of recently modified two-port time-domain passivity approach is evaluated under serious time-varying communication delay. First, recently proposed t...
In this paper, we consider the problem of motion planning for mobile robots with nonlinear hybrid dynamics, and high-level temporal goals. We use a multi-layered synergistic framew...
— For mobile platforms with steerable standard wheels it is necessary to precisely coordinate rotation and steering angle of their wheels. Especially for redundantly actuated pla...
Christian Pascal Connette, Andreas Pott, Martin H&...
In autonomous robotics, so-called artificial potential fields are often used to plan and control the motion of a physical robot. In this paper, we propose to use an artificial e...