1 citations · 1 across the 2 of their papers we have counts for
3 papers · 1 filter
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics
Martijn Bos, Silvio Traversaro, Daniele Pucci +1
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based…
Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study
Ilias Aouaj, Vincent Padois, Alessandro Saccon
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero spee…
Switching control for tracking of a hybrid position-force trajectory
D. J. F. Heck, A. Saccon, N. van de Wouw +1
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the i…