Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
Abstract. A measure differential inclusion (MDI) based modeling approach for rigidbody mechanical systems will be introduced, that can exhibit autonomous or controlled mode transi...
In this paper, we study the control of Composite Hybrid Machines (CHMs) subject to safety speci cations. CHMs are a fairly general class of hybrid systems modeled in modular fashi...