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ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
— Rigid body dynamics with contact constraints can be solved locally using linear complementarity techniques. However, these techniques do not impose the original constraints and...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. The dynamic identification model is based on the inverse dyn...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
— This paper addresses the problem of motion planning for free-flying robots. Full state actuation is considered to allow for large displacements of the spacecraft. Motion plann...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
Based on a recently developed ”generalized averaging theory,” we present a generic approach for the design of stabilizing feedback controllers for biomimetic locomotive systems...