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This paper studies the tracking control of nonholonomic mobile robots with bounded velocities and accelerations. Two first-order filters driven by the tracking errors are developed to produce bounded and uniformly continuous feedback signals for the tracking controller. The feedback signals and their time derivatives are directly constrained by two filter parameters. A set of four inequality conditions...
When a legged-robot walks on an irregular terrain such as a damaged area, some footholds may collapse due to the external force caused by the walking robot, and consequently the robot will stumble and fall. We have earlier proposed a locomotion method in which the quadruped robot does not stumble and cause a large collapse of the surrounding area on a weak horizontal plane. In this paper, we extend...
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