— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...
Alexander C. Shkolnik, Michael Levashov, Ian R. Ma...
An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical lineariza...
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...
We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem...