— As there are many good optimization algorithms each with its own characteristics, it is very difficult to choose the best method for optimization problems. Thus, it is importa...
— We present a control approach that uses a library of trajectories to establish a global control law or policy. This is an alternative to methods for finding global policies ba...
Abstract— In this paper, an attitude control strategy is developed for a high-speed quadruped trot. The forces in the trot are redistributed among the legs to stabilize the pitch...
For haptic devices, compensation of the robot's gravity is a frequent strategy with the aim to reduce interaction forces between robot and human in zero-impedance control. How...
Heike Vallery, Alexander Duschau-Wicke, Robert Rie...
— This paper addresses the problem of generating optimal joint trajectories for redundant manipulators when multiple criteria are to be considered. A dynamic programming approach...
A. Guigue, Mojtaba Ahmadi, M. J. D. Hayes, R. Lang...