In this paper we consider the structural properties of the dynamics of robotic manipulation systems of a rather general class, including multiple cooperating, possibly whole-arm l...
Dynamic control of constrained mechanical systems, such as robotic manipulators under end-effector constraints, parallel manipulators, and multifingered robotic hands under closure...
We develop geometric dynamical systems methods to determine how various components contribute to a neuronal network's emergent population behavior. The results clarify the mu...
— This paper presents a generic kinematic modeling approach for articulated multi-monocycle mobile robots. The formulation proposed to deduce the input/output velocity equations ...