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ICRA
2006
IEEE
15 years 4 months ago
2006
IEEE
— This paper proposes a motion duplication control scheme, which not only synchronizes motions between two distributed separate dynamic systems but also perfectly preserves presc...
ICRA
2006
IEEE
15 years 4 months ago
2006
IEEE
— In this paper we address the problem of generating input plans to steer complex dynamical systems in an obstaclefree environment. Plans considered admit a finite description l...
ICRA
2006
IEEE
15 years 4 months ago
2006
IEEE
— Current approaches to distributed control involving many robots generally restrict interactions to pairs of robots within a threshold distance. While this allows for provable s...
ICRA
2006
IEEE
15 years 4 months ago
2006
IEEE
— In this paper we generate gaits for dynamics systems that are subject to non-holonomic velocity constraints. These systems are referred to as mixed non-holonomic systems. The m...
ICRA
2006
IEEE
15 years 4 months ago
2006
IEEE
— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...