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This paper considers finite sense ability and finite motion ability into swarm system. We first construct a model of local swarms with a class of attraction and repulsion. Then we analyze their aggregation motion on the basis of the model. It is shown that the individuals of the two swarms will aggregate and eventually enter into a bounded hypeball around the swarm center in finite time. We finally...
Standard kinematics prioritized task based motion control solutions do not take into account the physical limitations in terms of maximum actuator speed of robots. In this paper, a prioritized task based kinematics control solution is presented that, under given conditions on the kind of concurrent tasks to be pursued, guarantees task error stability and convergence. Moreover the joint velocities...
This paper shows through faithfully deriving Paffian forms of 3D rolling contact constraints that 3D pinching can be stabilized by using a pair of robot fingers with a hemispherical soft tip and minimum degrees of freedom under the gravity effect. The proposed control input is based on fingers-thumb opposition without using object information or external sensing. Stability analysis of the closed-loop...
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