A Riemannian-geometry approach for control and stabilization of dynamics of object manipulation under holonomic or non-holonomic (but Pfaffian) constraints is presented. First, pos...
— This paper presents a standing balance controller. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to th...
Abstract— We propose a novel control method for lowerlimb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished...
Gabriel Aguirre-Ollinger, J. Edward Colgate, Micha...
Distributed motion planning of multiple agents raises fundamental and novel problems in control theory and robotics. In particular, in applications such as coverage by mobile senso...
— This paper proposes an optimal gait generation framework using virtual constraint and learning optimal control. In this method, firstly, we add a constraint by a virtual poten...