— A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of ma...
In this paper, we consider the problem of motion planning for mobile robots with nonlinear hybrid dynamics, and high-level temporal goals. We use a multi-layered synergistic framew...
Abstract. In this paper we present algorithms and tools for fast and efficient reachability analysis, applicable to continuous and hybrid systems. Most of the work on reachability ...
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynam...
Ian R. Manchester, Uwe Mettin, Fumiya Iida, Russ T...
A new design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches ...