We present a general framework for the modelling of a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and ...
Paolo Petreschi, Domenico Prattichizzo, Antonio Bi...
This paper proposes a hybrid control method of using the impedance control and the computed-torque control for biped robot locomotion. The computedtorque control is used for suppo...
Abstract— This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law sca...
This paper describes an approach to surface identification in the context of mobile robotics, applicable to supervised and unsupervised learning. The identification is based on ana...
— We examine the usefulness of passive compliance in a manipulator that learns contact motion. Based on the notice that humans outperforms robots with the contact motion, we foll...