We present a framework for designing stable control schemes for systems whose dynamic equations change as they evolve on the state space. It is usually difficult or even impossible...
This paper presents a motion description language (MDLp) for specifying and encoding autonomous puppetry plays in a manner that is faithful to the way puppetry choreography is curr...
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...
This paper presents a hybrid system approach in the design of a singularityless task level controller. To achieve a singularityless motion control in the neighborhood of singulari...
Some high speed color printers require that the sheets be accurately controlled in order to achieve a precise alignment of colors. To accomplish this goal a steerable nips mechanis...