— The success of NASA’s Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impos...
Ioannis M. Rekleitis, Jean-Luc Bedwani, Erick Dupu...
Abstract— This paper discusses the design and current capabilities of a new software tool, dVC, capable of simulating planar systems of bodies experiencing unilateral contacts wi...
Stephen Berard, Jeffrey C. Trinkle, Binh Nguyen, B...
This paper investigates controllability of underactuated rolling systems consisting of a smooth object rolling on a moving smooth surface. Our system consists of a spherical ball ...
Abstract— A number of conceptually simple but behaviorrich “inverted pendulum” humanoid models have greatly enhanced the understanding and analytical insight of humanoid dyna...
This paper addresses the problem of vision-based navigation and proposes an original control law to perform such navigation. The overall approach is based on an appearance-based r...