— Humanoid robots are highly redundant systems with respect to the tasks they are asked to perform. This redundancy manifests itself in the number of degrees of freedom of the ro...
Matthew Howard, Michael Gienger, Christian Goerick...
This paper considers a real-time algorithm for performance optimization of switched-mode hybrid dynamical systems. The controlled parameter consists of the switching times between ...
Abstract— Constructing climbing behaviors for hyperredundant robots that account for the system dynamics requires a model of robot dynamics under contact and friction. One common...
Teams of autonomous space robots are needed for future space missions such as the construction of large solar power stations and large space telescopes in earth orbit. This work fo...
—This paper discusses a method to identify dynamic parameters in a rigid-link flexible-joint robot model using motion capture. The procedure is divided into two parts. First, the...