Results 61 to 70 of about 2,057 (208)
Rendering of Constraints With Underactuated Haptic Devices
IEEE Transactions on Haptics, 2020 Several previous works have studied the application of proxy-based rendering algorithms to underactuated haptic devices. However, all these works make oversimplifying assumptions about the configuration of the haptic device, and they ignore the user's intent.
Daniel Lobo, Miguel A. Otaduy
openaire +3 more sources
IET Intelligent Transport Systems, Volume 20, Issue 1, January/December 2026.This paper proposes a composite control strategy combining a disturbance observer (DOB) and an adaptive sliding‐mode controller (ASMC) to enhance the path‐tracking performance of underactuated unmanned surface vehicles. The DOB actively compensates for environmental disturbances while the ASMC handles model uncertainties, with simulations demonstrating
Li Yang, Bao Changchun
wiley +1 more source
Modeling, Control and Simulation of Upward Jump of a Biped [PDF]
, 2012 International audienceThis paper explores the vertical upward jumping of a planar biped. The jumping process is decomposed into the crouching phase, the thrust in the knees, the flight phase, the touchdown and the straightening up movement of the biped ...
Aoustin, Yannick
core +3 more sources
IET Intelligent Transport Systems, Volume 20, Issue 1, January/December 2026.This paper proposes a robust adaptive control scheme for an autonomous underwater vehicle to achieve precise path tracking under model uncertainties and ocean disturbances. The design integrates a non‐singular terminal sliding mode, an adaptive super‐twisting algorithm optimized via improved Aquila optimization, and an uncertainty disturbance estimator
Vikas L. Karade +2 more
wiley +1 more source
TriTrap: A Robotic Gripper Inspired by Insect Tarsal Chains
BiomimeticsGripping, holding, and moving objects are among the main functional purposes of robots. Ever since automation first took hold in society, optimizing these functions has been of high priority, and a multitude of approaches has been taken to enable cheaper,
Julian Winand +2 more
doaj +1 more source
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers [PDF]
, 2018 Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice.
Ames, Aaron D. +2 more
core +1 more source
Real-Time Planning with Primitives for Dynamic Walking over Uneven Terrain
, 2013 We present an algorithm for receding-horizon motion planning using a finite family of motion primitives for underactuated dynamic walking over uneven terrain.
Manchester, Ian R., Umenberger, Jack
core +1 more source
2D bipedal walking with knees and feet: A hybrid control approach [PDF]
, 2009 In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-like walking.
Ames, Aaron D., Sinnet, Ryan W.
core +1 more source
The Journal of Engineering, Volume 2026, Issue 1, January/December 2026.This paper proposes a novel coupling‐based coordinated adaptive hierarchical sliding mode controller integrated with a Luenberger sliding mode observer for a class of underactuated nonlinear systems. The method features a moving sliding manifold with an adaptive law for faster convergence and explicitly manages inter‐state coupling to improve ...
Marzieh Ahmadi, Alireza Faraji
wiley +1 more source
Journal of Marine Science and Engineering, 2023 In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle.
Caipeng Ma +4 more
doaj +1 more source