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In this paper, we consider a novel approach to control the timing of motions when these are encoded with autonomous dynamical systems (DS). Accurate timing of motion is crucial if a robot must synchronize its movement with that of a fast moving object. In previous work of ours [1], we developed an approach to encode robot motion into DS. Such a time-independent encoding is advantageous in that it...
In this paper, we consider a multi-robot cooperative control problem via a robust consensus tracking algorithm. The main objective of this paper is to develop and implement a multi-robot formation control testbed and use it to verify the effectiveness of a cooperative control algorithm developed in our recent work. In the robust consensus tracking algorithm, an observer is developed to identify the...
We present a novel approach to legged locomotion over rough terrain that is thoroughly rooted in optimization. This approach relies on a hierarchy of fast, anytime algorithms to plan a set of footholds, along with the dynamic body motions required to execute them. Components within the planning framework coordinate to exchange plans, cost-to-go estimates, and “certificates” that ensure the output...
Whether the central nervous system of primates uses a body-centered or an eye-centered frame for reaching is still a controversial debate in neurosciences. Does the proprioceptive information allow to represent the visual information with respect to the body or inversely, does it transform the hand position in retinal coordinates? In this paper, we implement and test two control schemes associated...
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