We report on the design and analysis of a controller which can achieve dynamical self-righting of our hexapedal robot, RHex. We present an empirically developed control procedure ...
— This paper presents the design and practical implementation of an autonomous dynamic positioning scheme, i.e., the stabilization of linear and angular velocities as well as t...
A robust teleoperation controller design methodfor an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and st...
A goal of human-robot interaction is to allow one user to operate multiple robots simultaneously. In such a scenario the robots provide leverage to the user's attention. The ...
— This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that...