— In this paper, navigation and control of autonomous mobile unicycle robots in a complex and partially known obstacleridden environment is considered. The unicycle dynamic model...
— Point stabilization of an underactuated vehicle is most often accomplished using a periodic time-varying control law, resulting in oscillatory trajectories. We present a two-st...
We present an approach to path planning for humanoid robots that computes dynamically-stable, collision-free trajectories from full-body posture goals. Given a geometric model of t...
James J. Kuffner Jr., Satoshi Kagami, Koichi Nishi...
- We propose a novel framework for imitation learning that helps a humanoid robot achieve its goal of learning. There are apparent discrepancies in shapes and sizes among humans an...
Woosung Yang, Nak Young Chong, ChangHwan Kim, Bum-...
— A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of ma...