2 papers
cs.RO2017
Rigid vs compliant contact: An experimental study on biped walking
Majid Khadiv, S. Ali A. Moosvian, Aghil Yousefi-Koma +3
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches…
math.OC2017
A Computationally Efficient Algorithm to Find Time-Optimal Trajectory of Redundantly Actuated Robots Moving on a Specified Path
Saeed Mansouri, Mohammad Jafar Sadigh, Masoud Fazeli
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions b…