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The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. These priorities profoundly constrain the choice of gait regulation methods. We propose a gait regulation and analysis method that varies foot detachment timing, effectively modifying stride length and frequency in order to maintain gait phasing, subject...
A moving-target-enclosing problem is investigated in the paper, where the velocity of the target is unknown and the neighbor topologies may change over time. Each robot only uses the relative position information of the target and its neighbors that may dynamically change over time. An adaptive scheme is proposed to estimate the velocity of the target. Then a distributed control law for each robot...
In this paper, we consider the problem of navigation and guidance of a Dubins-like wheeled robot towards a steady or maneuvering target with range-only information. We propose a range-based sliding mode controller through which the robot follows a target with a constant speed while preserving a predefined range margin from the target. Mathematically rigorous proof of convergence and stability of the...
Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotational axis. The proposed dynamic extension acts as a velocity scheduler that specifies, at each time instant, the ideal translational velocity that...
For N unicycles moving in formation, a cooperative control strategy for target capturing including the steering angle regulation problem is proposed in this paper. The stabilizing method is based on LaSallepsilas invariance principle and ensures, in the 2D space, the target capturing. The method does not require motion planning. Hence, the convergence to the desired attractive set surrounding the...
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