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ROBIO
2006
IEEE
14 years 2 months ago
2006
IEEE
— 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...
CDC
2010
IEEE
13 years 3 months ago
2010
IEEE
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 ...
ICRA
2005
IEEE
14 years 2 months ago
2005
IEEE
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...
AR
2010
13 years 6 months ago
2010
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...
IROS
2007
IEEE
14 years 2 months ago
2007
IEEE
—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...