most citedLayered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

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math.OC2019

Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma +2

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…

math.OC2019

Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach

Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala +2

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.…