— In this paper, we address the issues of compliant control of a robot under contact constraints with a goal of using joint space based pattern generators as movement primitives,...
Abstract— Biological systems achieve amazing adaptive behavior with local agents performing simple sensing and actions. Modular robots with similar properties can potentially ach...
In 1986, Franceschini et al. built an optronic velocity sensor [11], the principle of which was based on the findings they had recently made on fly EMDs by performing electrophysio...
Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when th...
— We present a semi-parametric control policy representation and use it to solve a series of nonholonomic control problems with input state spaces of up to 7 dimensions. A neares...