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20162023
most citedDarboux-Frame-Based Parametrization for a Spin-Rolling Sphere on a Plane: A Nonlinear Transformation of Underactuated System to Fully-Actuated Model

7 citations · 16 across the 5 of their papers we have counts for

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Showing 2020Show all

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cs.RO2020★ 5 cited

Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass

Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto

Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial co…