Abstract: This paper considers the global exponential stability of planar distributed manipulation control schemes. The “programmable vector field” approach is a commonly prop...
— This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation before and after the contact wit...
— Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a huma...
We consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. Individual robot control laws and motion plans enable...
Jonathan Fink, Nathan Michael, Soonkyum Kim, Vijay...
— This paper describes the dynamic modeling of linear object deformation considering geometrical constraints and contact with obstacles. Deformable linear objects such as cables ...