12 search results - page 2 / 3 » Symmetric Walking Control: Invariance and Global Stability |
HAPTICS
2005
IEEE
13 years 10 months ago
2005
IEEE
— We present an algorithm that determines the point on a convex parametric surface patch that is closest to a given (possibly moving) point. Any initial point belonging to the su...
CDC
2008
IEEE
13 years 11 months ago
2008
IEEE
— We consider the problem of small-gain analysis of asymptotic behavior in interconnected nonlinear dynamic systems. Mathematical models of these systems are allowed to be uncert...
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
— Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to...
RSS
2007
13 years 5 months ago
2007
— In this paper a new leader-follower formation of nonholonomic mobile robots is studied. The follower is a car-like vehicle and the leader is a tractor pulling a trailer. The le...
CCE
2007
13 years 4 months ago
2007
In this work, a systematic approach to plant-wide control design is proposed. The method combines ingredients from process networks, thermodynamics and systems theory to derive ro...