CDC
2010
IEEE
12 years 11 months ago
2010
IEEE
Abstract-- Many tracking problems are split into two subproblems, first a smooth reference trajectory is generated that meet the control design objectives, and then a closed loop c...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— We present adaptive admittance control of a robotic manipulator, with uncertain dynamic parameters, operating in a constrained task space. To provide compliance to external for...
SIGGRAPH
2010
ACM
13 years 8 months ago
2010
ACM
We present a dynamic controller to physically simulate underactuated three-dimensional full-body biped locomotion. Our datadriven controller takes motion capture reference data to...
CDC
2009
IEEE
13 years 9 months ago
2009
IEEE
Abstract— For a right-invariant and controllable driftless system on SU(n), we consider a time-periodic reference trajectory along which the linearized control system generates s...
IROS
2009
IEEE
13 years 11 months ago
2009
IEEE
— Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the cen...
IROS
2009
IEEE
13 years 11 months ago
2009
IEEE
— This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporat...