:This paper presents a trajectory planning algorithm for mobile robots which may be subject to kinodynamic constraints. Using computational methods from noncommutative harmonic ana...
A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, pos...
In the field of robotics the energy spent for actuation is always an issue. It is often the case that some desired motions cannot be achieved by the robot due to limitations in act...
Uwe Mettin, Pedro X. La Hera, Leonid B. Freidovich...
— A new 3D biped prototype with small DOF, SKIPPER, was developed. As an important component of a running controller for this robot, an aerial posture controller is presented. Th...
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...