2 papers
cs.RO2025
Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases
Juraj Lieskovský, Hijiri Akahane, Aoto Osawa +3
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The…
eess.SY2025
Continuous-time iterative linear-quadratic regulator
Juraj Lieskovský, Jaroslav Bušek, Tomáš Vyhlídal
We present a continuous-time equivalent to the well-known iterative linear-quadratic algorithm including an implementation of a backtracking line-search policy and a novel regulari…