In this paper the control of exible joint manipulators is studied in detail. A composite control algorithm is proposed for the exible joint robots, which consists of two main part...
This paper reports on a feasibility study into the evolution of robot controllers during the actual operation of robots (on-line), using only the computational resources within the...
— Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and sys...
Dynamical systems theory is used here as a theoretical language and tool to design a distributed control archictecture that generates navigation in formation, integrated with obst...
— This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral contro...