Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
, 2019 Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines.
Li, Yunzhu +4 more
core
A Smooth Distributed Feedback for Global Rendezvous of Unicycles
, 2016 This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame coordinates. A smooth,
Maggiore, Manfredi +2 more
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Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots
, 2016 This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics.
Nava, Gabriele +2 more
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Recursive multibody dynamics and discrete-time optimal control [PDF]
A recursive algorithm is developed for the solution of the simulation dynamics problem for a chain of rigid bodies. Arbitrary joint constraints are permitted, that is, joints may allow translational and/or rotational degrees of freedom.
Damaren, C. J., Deleuterio, G. M. T.
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The effects of gear reduction on robot dynamics [PDF]
The effect of the joint drive system with gear reduction for a generic two-link system is studied. It is done by comparing the kinetic energy of such a system with that of a direct drive two-link system.
Chen, J.
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Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics [PDF]
This report advances a linear operator approach for analyzing the dynamics of systems of joint-connected rigid bodies.It is established that the mass matrix M for such a system can be factored as M=(I+H phi L)D(I+H phi L) sup T.
Kreutz, K., Rodriguez, G.
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Passive dynamic controllers for nonlinear mechanical systems [PDF]
A methodology for model-independant controller design for controlling large angular motion of multi-body dynamic systems is outlined. The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small ...
Juang, Jer-Nan +3 more
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Computed torque control of a free-flying cooperat ing-arm robot [PDF]
The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque.
Cannon, Robert H., Jr. +2 more
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Modeling, Stability Analysis, and Testing of a Hybrid Docking Simulator
, 2013 A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS) is the ...
Boge, T., Choukroun, D., Zebenaya, M.
core
The Kinematics, Dynamics and Control of a Flying Parallel Robot With Three Quadrotors
IEEE Robotics and Automation Letters, 2018 Damien Six +3 more
semanticscholar +1 more source