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In this paper, we use sliding mode control theory to design a 3D vision based controller that is robust to bounded parametric estimation errors. First, we give a model of an eye-in-hand 6 DOF robotic system, including the Pose Reconstruction Algorithm (PRA) used to estimate the position and orientation of the camera with respcet to the scene. In a second step, we propose a model for the uncertainties...
Computation of contact forces is essential for the simulation of mechanical systems with unilateral constraints, like bipedal robots. Most methods are based on the rigid body assumption. They can be categorized into constraint-based and penalty-based approaches. In the former, contact forces are computed by solving an optimization problem based on linear or nonlinear complementarity conditions. Unfortunately,...
The decomposition of the problem of existence and stability for fast periodic solutions of singularly perturbed nonlinear systems with the impact effects is considered. With this aim, theorem for existence and stability of fixed points for corresponding Poincare sections is proved. These results are applied for the decomposition of the control design problem for bipedal robots with heavy torsos.
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