Zobrazeno 1 - 9
of 9
pro vyhledávání: '"Vinay R. Kamidi"'
Publikováno v:
IEEE Control Systems Letters. 6:2509-2514
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f366a557b18e0982c0bdd291a0d2f8a5
https://doi.org/10.1109/lcsys.2022.3167795
https://doi.org/10.1109/lcsys.2022.3167795
Publikováno v:
ACC
This letter presents a formal foundation, based on decomposition, hybrid zero dynamics (HZD), and a scalable optimization, to develop distributed control algorithms for hybrid models of collaborative human-robot locomotion. The proposed approach cons
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ef0b320c6583846e954f232cddaaa6a6
https://doi.org/10.23919/acc50511.2021.9483320
https://doi.org/10.23919/acc50511.2021.9483320
Publikováno v:
IROS
This paper aims to develop time-varying virtual constraint controllers that allow stable and agile bounding gaits for full-order hybrid dynamical models of quadrupedal locomotion. As opposed to state-based nonlinear controllers, time-varying controll
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::76a0638c64d773e7f5f898dc0dd35e29
https://doi.org/10.1109/iros45743.2020.9341772
https://doi.org/10.1109/iros45743.2020.9341772
Publikováno v:
IROS
Although legged robots are becoming more nonlinear with higher degrees of freedom (DOFs), the centralized nonlinear control methods required to achieve stable locomotion cannot scale with the dimensionality of these robots. This paper investigates ti
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::8199733922f8342297f6e1f54c4be117
https://doi.org/10.1109/iros45743.2020.9341321
https://doi.org/10.1109/iros45743.2020.9341321
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address high-dimensional and co
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5fa119a2af2c98bae53b9afc824f1881
http://arxiv.org/abs/1904.03158
http://arxiv.org/abs/1904.03158
Publikováno v:
ACC
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation of object
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8ebb7e01e0219573433970128d1f97ed
http://arxiv.org/abs/1902.03690
http://arxiv.org/abs/1902.03690
Publikováno v:
IROS
This paper presents the foundations of a MATLAB framework for dynamic modeling and simulation of closed kinematic chain (CKC) mechanisms, with a particular focus on implementation with legged locomotive mechanisms. As such, the framework supports bot
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f442172509708a3005ba754b6133ffe5
https://doi.org/10.1109/iros.2018.8593909
https://doi.org/10.1109/iros.2018.8593909
Publikováno v:
Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control.
This paper proposes a hybrid multibody dynamics formalism with a symbolical multibody toolbox developed in MATLAB Environment. The toolbox can generate the dynamic model of a multibody system with hybrid and nonholonomic dynamic properties. The frame
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::0f85bc31e466dfa327ee82c18093c4d5
https://doi.org/10.1115/dscc2018-9000
https://doi.org/10.1115/dscc2018-9000
Publikováno v:
IROS
This paper presents the mechanical design and analysis of a novel leg mechanism that has only one active degree of freedom (DOF). The proposed mechanism is intended towards simplifying the mechanical and control complexity identified with the robotic
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bc434177734542d1f7431bd7fdb21d9a
https://doi.org/10.1109/iros.2017.8206540
https://doi.org/10.1109/iros.2017.8206540