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In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots...
When dealing with biped robots it is common to consider a set of specific assumptions in order to analyze the complete walking cycle. Among other assumptions, the non-slipping condition is a very common working hypothesis. This fact implies that the contact point between the supporting leg and the walking surface does not have a relative displacement along the walking axis. Although, in some practical...
This work is focused on the slipping effects analysis and the model based control of a class of biped robots over a complete walking cycle restricted to the sagittal plane. It is known that the effect of the impact of the swing leg with the walking surface produces a change in the articular velocities that forces a change on the initial conditions for the new step. Based on a simplification of the...
This paper deals with the discrete time control of an omnidirectional mobile robot subject to transport delays. A discrete-time model of the vehicle is obtained by considering an exact discretization of the continuous time model of the robot where the time delay induced by a communication network is considered. The path-tracking problem is addressed by means of a prediction strategy based on the well...
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