138 search results - page 2 / 28 » Controllability of a class of underactuated mechanical syste... |
CDC
2009
IEEE
13 years 11 months ago
2009
IEEE
— In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-l...
HYBRID
2001
Springer
14 years 3 days ago
2001
Springer
In this work we present a novel control design methodology for under-actuated mechanical systems. As part of the design process we use the reachability analysis tool d/dt [ABDM99,D...
IROS
2008
IEEE
14 years 2 months ago
2008
IEEE
— This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear fe...
ICRA
2003
IEEE
14 years 27 days ago
2003
IEEE
Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems...
ICRA
2003
IEEE
14 years 27 days ago
2003
IEEE
This paper studies the force capability of a particular class of underactuated fingers. Force capability is defined as the ability to create an external wrench onto a fixed obj...