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ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
This paper presents a new criterion for the asymptotic stance stability of a statically balanced legged robot. Typically, the static balance criterion only considers that the cent...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
The paper presents a new method of performing integrator backstepping in systems that are discontinuous, either due to their inherent structure or because of the applied control i...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid ro...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
Twice (Tilting device with WIde Capacity) a new amplification device able to double the tilting angle of a parallel mechanism is presented. A singularity analysis is carried out: ...
ICRA
2002
IEEE
14 years 2 months ago
2002
IEEE
This paper introduces a control strategy based on redundant sensors that leads to parallel robots accuracy enhancement. The method is presented in general, then applied to a 4-dof ...