53 search results - page 2 / 11 » Dynamic Scaling of Trajectories for Robots with Elastic Join... |
SIMPAR
2010
13 years 3 months ago
2010
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introdu...
ICRA
2009
IEEE
13 years 12 months ago
2009
IEEE
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with ...
ICNC
2005
Springer
13 years 10 months ago
2005
Springer
This paper presents a novel learning feed-forward controller design approach for accurate robotics trajectory tracking. Based on the joint nonlinear dynamics characteristics, a mod...
ICRA
1998
IEEE
13 years 9 months ago
1998
IEEE
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
ICRA
2006
IEEE
13 years 11 months ago
2006
IEEE
— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...