Abstract: A new stable model inversion method extension is presented with the aim of providing solutions to the feedforward control of underactuated robots ...
It is the aim of this paper to present a BVP stable inversion method capable of finding the necessary torque input, for use on underactuated robots, that allows ...
The method uses a boundary value problem framework along with a Hamiltonian formalism, representing the dynamic equations of motion, to find solutions for the ...
Abstract: A new stable model inversion method extension is presented with the aim of providing solutions to the feedforward control of underactuated robots ...
A new generalized method of stable model inversion is presented with the aim of providing solutions for the feedforward control of underactuated robots. The ...
The article applies the robust generalized dynamic inversion control methodology to the problem of stabilizing upright equilibrium configuration of the under- ...
The method uses a boundary value problem framework along with a Hamiltonian formalism, representing the dynamic equations of motion, to find solutions for the ...
The method uses a boundary value problem framework along with Hamiltonian formalism, representing the dynamic equations of motion, to solve for the stable model ...
Hamiltonian exploitation in underactuated robot system inversion. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2014 ...
The study of underactuated robotics focuses on building control systems which instead exploit the natural dynamics of the machines in an attempt to achieve ...
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