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TROB
2010
13 years 3 months ago
2010
—High-gain proportional–integral–derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts...
TROB
2010
13 years 3 months ago
2010
—A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other...
TROB
2010
13 years 3 months ago
2010
Abstract—This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interacti...
TROB
2010
13 years 3 months ago
2010
—To efficiently solve challenging motion-planning problems with dynamics, this paper proposes treating motion planning not just as a search problem in a continuous space but as ...
TROB
2010
13 years 3 months ago
2010
—We propose a novel framework, passive set-position modulation (PSPM), which enables us to connect a (continuoustime) robot’s position to a sequence of slowly-updating/sparse (...