Results 11 to 20 of about 26,010 (142)
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach [PDF]
, 2020 This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first ...
Ames, Aaron D. +3 more
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Modeling the kinematics and Dynamics of Compliant Contact [PDF]
, 2003 In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations describing the motion of the contact point when two rigid bodies are rolling on ...
Duindam, Vincent, Stramigioli, Stefano
core +8 more sources
A spatial impedance controller for robotic manipulation [PDF]
, 1997 Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic ...
Broenink, Jan F., Fasse, Ernest D.
core +2 more sources
Ultra-fast escape maneuver of an octopus-inspired robot [PDF]
, 2014 We design and test an octopus-inspired flexible hull robot that demonstrates outstanding fast-starting performance. The robot is hyper-inflated with water, and then rapidly deflates to expel the fluid so as to power the escape maneuver.
Subramaniam, V. +2 more
core +1 more source
On Centroidal Dynamics and Integrability of Average Angular Velocity [PDF]
, 2017 In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation framethat depends ...
Nijmeijer, Henk +3 more
core +2 more sources
Dynamic whole-body motion generation under rigid contacts and other unilateral constraints [PDF]
, 2013 The most widely used technique for generating wholebody motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements
Et Al. Dy +12 more
core +5 more sources
Quantifying the Evolutionary Self Structuring of Embodied Cognitive Networks [PDF]
, 2012 We outline a possible theoretical framework for the quantitative modeling of networked embodied cognitive systems. We notice that: 1) information self structuring through sensory-motor coordination does not deterministically occur in Rn vector space, a ...
Bonsignorio, Fabio
core +1 more source
Quasi optimal sagittal gait of a biped robot with a new structure of knee joint [PDF]
, 2013 The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow movements including rolling and
ABBA, Gabriel +2 more
core +6 more sources
Vision based motion control for a humanoid head [PDF]
, 2009 This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely.
Carloni, R. +2 more
core +2 more sources
Rigid vs compliant contact: an experimental study on biped walking [PDF]
Multibody system dynamics, 2017 Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ...
M. Khadiv +5 more
semanticscholar +1 more source