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cs.RO2022★ 14 cited
Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail
Yunxi Tang, Jiajun An, Xiangyu Chu +3
Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot…
eess.SY2022
Attitude Tracking for Rigid Bodies Using Vector and Biased Gyro Measurements
Eduardo Espíndola, Yu Tang
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential…