—High-gain proportional–integral–derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts...
Ryo Kikuuwe, S. Yasukouchi, Hideo Fujimoto, Motoji...
—A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other...
Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Ev...
Abstract—This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interacti...
—To efficiently solve challenging motion-planning problems with dynamics, this paper proposes treating motion planning not just as a search problem in a continuous space but as ...
—We propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuoustime) robot’s position to a sequence of slowly-updating/sparse (...