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ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of th...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
Abstract— This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law sca...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
— We propose a novel complementarity model for a general three-dimensional manipulation system with rolling and sliding contacts to solve the forward dynamics problem. The key id...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
— This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turn...
ICRA
2003
IEEE
14 years 3 months ago
2003
IEEE
- In this paper we describe the navigation and planning of the i-Fork system, a flexible AGV intended to operate in partially structured warehouses where frequent floor plant layou...