— The success of sampling-based motion planners has resulted in a plethora of methods for improving planning components, such as sampling and connection strategies, local planner...
— Tumbling is an exciting new area of robotic locomotion that takes advantage of ground-body interactions to achieve rich motions with minimal hardware complexity. The increased ...
Abstract. The paper deals with the application of model reference adaptive control to robot impedance control, which is actually a technique of steering the end-effector on a presc...
This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangi...
Abstract. We can achieve guaranteed constraint satisfaction of a hybrid dynamical system (which takes into account the underlying continuous dynamics) in a simple, hierarchical con...