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eess.SY2025
A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators
Federico Califano, Camilla Rota, Riccardo Zanella +1
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task , where is a point on the configurat…
eess.SY2024
Lossless optimal transient control for rigid bodies in 3D space
Riccardo Zanella, Federico Califano, Antonio Franchi +1
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a pa…