— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...
Alexander C. Shkolnik, Michael Levashov, Ian R. Ma...
— This paper describes a motion planning algorithm that accounts for uncertainty in the dynamics of vehicles. This noise is a function of the type of controller employed on the v...
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ T...
— Mobile platforms equipped with several steering wheels are known to be omnidirectional, i.e., able to independently translate and rotate on the plane. As an improvement to this...
Paolo Robuffo Giordano, Matthias Fuchs, Alin Albu-...
- This paper presents a third-order spline interpolation based trajectory planning method which is aiming to achieve smooth biped swing leg trajectory by reducing the instant veloc...