Results 21 to 30 of about 26,010 (142)
Discrete-Time Impedance Control for Dynamic Response Regulation of Parallel Soft Robots
BiomimeticsAccurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments.
Ameer Hamza Khan, Shuai Li
doaj +1 more source
Control of a Spherical Robot with a Nonholonomic Omniwheel Hinge Inside
Nelineinaya DinamikaThis study investigates the rolling along the horizontal plane of two coupled rigid bodies: a spherical shell and a dynamically asymmetric rigid body which rotates around the geometric center of the shell.
E. Mikishanina
semanticscholar +1 more source
, 2019 This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies.
Adorno, Bruno V. +3 more
core +1 more source
On the Similarities and Differences Among Contact Models in Robot Simulation
IEEE Robotics and Automation Letters, 2019 Over the past several decades, as affordable computational power has increased, simulation has become increasingly important in robot analysis, planning, and control.
Peter Horak, J. Trinkle
semanticscholar +1 more source
, 2019 In this paper, we propose a contact-implicit trajectory optimization (CITO) method based on a variable smooth contact model (VSCM) and successive convexification (SCvx).
Long, Philip +2 more
core +1 more source
Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation
IEEE Robotics and Automation LettersDynamic simulation of soft and flexible bodies is important for the motion planning and control of soft robot systems. This study presents a fast real-time simulation of the piecewise constant strain (PCS) model proposed in soft robotics research to ...
Taiki Ishigaki, Ko Ayusawa, Ko Yamamoto
semanticscholar +1 more source
Momentum Control of Humanoid Robots with Series Elastic Actuators
, 2017 Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers ...
Nava, Gabriele +2 more
core +1 more source
Towards a theoretical foundation for morphological computation with compliant bodies
Biological cybernetics, 2011 The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. The vision of morphological computation proposes to view these aspects not only as problems, but rather also as parts of the solution.
H. Hauser +4 more
semanticscholar +1 more source
, 2017 We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs an off-line optimisation step to simplify the computational complexity of ...
Nori, Francesco
core +1 more source
Dynamic Modelling and Adaptive Traction Control for Mobile Robots
, 2004 Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots.
Albagul, A., Wahyudi
core +2 more sources