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eess.SY2023★ 21 cited
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
Gabriel Arslan Waltersson, Yiannis Karayiannidis
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model…
eess.SY2019
A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
Diogo Almeida, Yiannis Karayiannidis
Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly…