This paper describes the hardware and software architecture of the Attempto RoboCup-99 team. We first present the design of our heavily modified commercial robotic base, the robo...
— This paper focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error mode...
Ramon Gonzalez, Mirko Fiacchini, Jose Luis Guzman,...
In this paper, we concern a swing-up control problem for an n-link revolute planar robot with any one of the joint being a passive joint. The goal of this study is to design and an...
A locking, unactuated knee is added to the Scout II quadruped robot and trotting gaits are studied. The mechanical design of the knee is presented, trotting algorithms are discuss...
It is generally challenging to design decentralized controllers for swarms of robots because there is often no obvious relation between the individual robot behaviors and the final...