TROB
2002
14 years 11 days ago
2002
In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is...
TROB
2002
14 years 11 days ago
2002
Abstract-- This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framewor...
TROB
2002
14 years 11 days ago
2002
This paper presents an error modeling of an odometry system for a synchronous-drive system and a possible strategy for evaluating this error. The odometry error is modeled by intro...
TROB
2002
14 years 11 days ago
2002
Abstract--This paper investigates the synthesis of a spatial stiffness matrix using simple line springs. A new algorithm is developed, which enables the selection of constituent sp...
TROB
2002
14 years 11 days ago
2002
A dual neural network is presented for the bi-criteria kinematic control of redundant manipulators. To diminish the discontinuity of minimum infinity-norm solutions, the kinematicc...
TROB
2002
14 years 11 days ago
2002
Abstract--A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-h...
TROB
2002
14 years 11 days ago
2002
TROB
2002
14 years 11 days ago
2002
We have designed and built a set of miniature robots called Scouts and have developed a distributed software system to control them. This paper addresses the fundamental choices we...
TROB
2002
14 years 11 days ago
2002
