36 search results - page 6 / 8 » On Invariant Manifolds of Dynamical Systems in Lie Algebras |
CDC
2008
IEEE
14 years 1 months ago
2008
IEEE
— A planar compass-like biped on a shallow slope is the simplest model of a passive walker. It is a two-degrees-offreedom impulsive mechanical system known to possess periodic so...
CDC
2008
IEEE
13 years 8 months ago
2008
IEEE
Abstract-- This paper introduces a global uncertainty propagation scheme for the attitude dynamics of a rigid body, through a combination of numerical parametric uncertainty techni...
MCSS
2006
Springer
13 years 6 months ago
2006
Springer
In this paper we consider systems which are globally completly observable and output-to-state stable. The former property guarantees the existence of coordinates such that the dyna...
IROS
2007
IEEE
14 years 1 months ago
2007
IEEE
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
ICRA
2003
IEEE
13 years 12 months ago
2003
IEEE
In this paper the control of exible joint manipulators is studied in detail. A composite control algorithm is proposed for the exible joint robots, which consists of two main part...