2 citations · 4 across the 18 of their papers we have counts for
3 papers · 1 filter
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore de…
Geometric Stabilization of Virtual Nonlinear Nonholonomic Constraints
Efstratios Stratoglou, Alexandre Anahory Simoes, Anthony Bloch +1
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationsh…
Learning-Based Fault-Tolerant Control for an Hexarotor with Model Uncertainty
Leonardo J. Colombo, Manuela Gamonal Fernandez, Juan I. Giribet
In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate cer…