We propose HyDICE, Hybrid DIscrete Continuous Exploration, a multi-layered approach for hybrid-system testing that integrates continuous sampling-based robot motion planning with d...
— This paper first presents a novel control strategy for periodic motion control based on a Hamiltonian system. According to the strategy, hybrid symmetric orbits (ideal walking...
Abstract— Robot control systems consist of a feedback controller and reference motion pattern. They are designed based on the robot dynamics and coupled with each other, and it r...
— The dynamics and control of a cable-suspended, two-arm robotic system are developed for an entertainment application. One manipulator arm is controlled to fulfill a user defi...
Roberto Lampariello, Johann Heindl, Ralf Koeppe, G...
— Given a robot model and a class of admissible environments, this paper provides a framework for automatically and verifiably composing controllers that satisfy high level task...
Hadas Kress-Gazit, Georgios E. Fainekos, George J....