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cs.RO2023
Orientation Control with Variable Stiffness Dynamical Systems
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka +1
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional t…
eess.SY2023★ 2 cited
Input-Output Feedback Linearization Preserving Task Priority for Multivariate Nonlinear Systems Having Singular Input Gain Matrix
Sang-ik An, Dongheui Lee, Gyunghoon Park
We propose an extension of the input-output feedback linearization for a class of multivariate systems that are not input-output linearizable in a classical manner. The key observa…