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...
A sonar-ring is one of the most popular sensors for indoor mobile robots, because it is simple and gives omni-directional distance information directly. However, it is dicult to m...
We describe a hybrid planar image-based servo algorithm which, for a simplified planar convex rigid body, converges to a static goal for all initial conditions within the workspac...
In future planetary exploration missions, rovers will be required to autonomously traverse challenging environments. Much of the previous work in robot motion planning cannot be s...
We present a novel approach we call partitioning where the robot's degrees- of-freedom (D OF) are categorized into two classes based on joint kinematics and dynamics to desig...