This paper addresses the coordinated navigation of multiple independently actuated disk-shaped robots - all placed...

This paper introduces the use of vector fields to design, optimize, and implement reactive schedules...

We propose an event-driven algorithm for the control of simple robot assembly problems based on...

Visual servo controllers in the literature rarely achieve provably large domains of attraction, and seldom...

We describe a hybrid planar image-based servo algorithm which, for a simplified planar convex rigid...

We address the problem of controlling large distributed robotic systems such as factories. We introduce...

A navigation function is an artificial potential energy function on a robot configuration space (C-space)...

The utility of artificial potential functions is explored as a means of translating automatically a...

We report on a continuous time full body state estimator for a hexapod robot operating...

Planar, underactuated, biped walkers form an important domain of applications for hybrid dynamical systems. This...

We report on our progress in extending the behavioral repertoire of RHex, a compliant leg...

In this paper, we report on a "hybrid" scheme for regulating the swing up behavior...

The authors construct a simplified model of a dynamically dexterous robot, M.H. Raibert's hopper, and...

We report on the design and development of X-RHex, a hexapedal robot with a single...

We present a framework for detecting, identifying, and recovering within stride from faults and other...

Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral...

Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having...

As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple limbs...

This paper describes the development of a legged robot designed for general locomotion of complex...

Goldman at Georgia Tech, Koditschek and Komsuoglu at the University of Pennsylvania, in Philadelphia, and...

Legged locomotion on flowing ground (e.g., granular media) is unlike locomotion on hard ground because...

We are interested in the development of a variety of legged robot platforms intended for...

Arthropods with their extraordinary locomotive capabilities have inspired roboticists, giving rise to major accomplishments in...

This paper presents an integrated, systems-level view of several novel design and control features associated...

Our objective is to provide experimentalists with neuromechanical control hypotheses that can be tested with...

This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising...

Recent developments in dynamic legged locomotion have focused on encoding a substantial component of leg...

We present our approach to undergraduate engineering education, “A contexualized, social, self-paced, engineering education for...

We report on a hybrid 12-dimensional full body state estimator for a hexapod robot executing...

Simple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals...

Cheetahs and beetles run, dolphins and salmon swim, and bees and birds fly with grace...

We report on a continuous-time rigid-body pose estimator for a walking hexapod robot. Assuming at...

This paper introduces a framework for representing, generating, and then tuning gaits of legged robots....

A collection of unactuated disk-shaped "parts" must be brought by an actuated manipulator robot into...

We present a new stability analysis for hybrid legged locomotion systems based on the “symmetric”...

This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising...

We report on the design and analysis of a controller that can achieve dynamical self-righting...

Gait parameter adaptation on a physical robot is an error-prone, tedious and time-consuming process. In...

We report on a novel leg strain sensory system for the autonomous robot RHex [Saranli...

In this paper, we introduce a hexapedal locomotion controller that simulation evidence suggests will be...

In this paper, we report on a new stability analysis for hybrid legged locomotion systems...

This paper addresses the problem of registering the hexapedal robot RHex, relative to a known...

The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model for running in...

The class of continuous piecewise linear (PL) functions represents a useful family of approximants because...

This paper presents a framework for visual servoing that guarantees convergence to a visible goal...

We report on the design and analysis of a controller which can achieve dynamical self-righting...

EDAR (event-driven assembler robot) — a mobile robot capable of moving a collection of disk-shaped...

Animals execute locomotor behaviors and more with ease. They have evolved these breath-taking abilities over...

The flexibility of computer vision is attractive when designing manipulation systems which must interact with...

In this paper, the authors describe the design and control of RHex, a power autonomous,...

We investigate the stability of a one degree of freedom mechanical spring-mass system modulated by...

We describe a method for the decentralized phase regulation of two coupled hybrid oscillators. In...

Many tasks in robotics and automation require a cyclic exchange of energy between a machine...

We report in this paper a relatively simple means of generating closed-form approximants to the...

Stable and robust autonomous dynamic locomotion is demonstrated experimentally in a four and a six-legged...

The class of piecewise linear homeomorphisms (PLH) provides a convenient functional representation for many applications...

We introduce tools which help one to compose concurrent, hybrid control programs for a class...

We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod...

We report on our empirical studies of a new controller for a two-link brachiating robot....

We propose the "minvar" algorithm for computing continuous, continuously invertible, piecewise linear (PL) approximations of...

The University of Michigan and Xerox's Wilson Research Center have been collaborating on problems in...

Locomotion results from complex, high-dimensional, non-linear, dynamically coupled interactions between an organism and its environment....

We have previously developed a brachiation controller that allows a two degree of freedom robot...

We consider the use of linear splines with variable knots for the approximation of unknown...

We report on our recent empirical success in the study of a two-link brachiating robot....

We describe work-in-progress toward a nonlinear image-based rigid body dynamic triangulator which we believe tracks...

We propose a new family of controllers for multi-jointed planar monoped runners, based on approximate...

We present a system for generation and recognition of oscillatory gestures. Inspired by gestures used...

We characterize equilibrium gaits of a small knee monoped in terms of manifest parameters by...

We report on our preliminary studies of a new controller for a two-link brachiating robot....

We present a simplified state-space model of a once-through supercritical boiler turbine power plant. This...

This paper presents some preliminary results from a research collaboration concerning the modeling and control...

We present a system for generation and recognition of oscillatory gestures. Inspired by gestures used...

We present a working implementation of a dynamics based architecture for visual sensing. This architecture...

This paper reports on our present achievement toward the intelligent control of a boiler-turbine power-plant...

We propose an event-driven approach to planning and control of robot assembly problems using ideas...

We report on our initial efforts to build robot feedback controllers that develop increased capability...

A simplified lossless model of the Raibert planar hopper is introduced for the purpose of...

In this paper we demonstrate that a passive vibration strategy can bring a 1 degree...

In this paper we demonstrate that a passive vibration strategy can bring a one-degree-of-freedom ball...

In previous papers we have reported successful laboratory implementations of a family of juggling algorithms....

Assembly problems require that a robot with fewer actuated degrees of freedom manipulate an environment...

In the recent successful effort to achieve the spatial two-juggle - batting two freely falling...

We report on our recently achieved spatial two-juggle: the ability to bat two freely falling...

This paper presents a new model-based adaptive controller and proof of its global asymptotic stability...

We present a new methodology for exact robot motion planning and control that unifies the...

We review our progress to date in eliciting dynamically dexterous behaviors from a three degree...

An approach to the problem of controlling automated assembly tasks using artificial potential functions is...

This article offers some analytical results concerning simplified models of Raibert's hopper. We represent the...

This paper presents two setpoint regulation problems that may be distinguished from the traditional preview...

This paper concerns a simple extension of Lord Kelvin's observation that energy decays in a...

An approach to the problem of automated assembly planning and control using artificial potential functions...

A Euclidean Sphere World is a compact connected submanifold of Euclidean n-space whose boundary is...

This paper presents a new adaptive controller and proof of its global asymptotic stability with...

A program of research in robotics that seeks to encode abstract tasks in a form...

Recent results of dynamical systems theory are used to derive strong predictions concerning the global...

The performance of real-time distributed control systems is shown to depend critically on both communication...

This article develops a formalism for describing and analyzing a very simple representative class of...

This paper reviews the theory of navigation functions and the attendant use of natural control...

The authors consider the construction of navigation functions on configuration spaces whose geometric expressiveness is...

A description is given of a dual-board real-time distributed control module based on the INMOS...

The introduction of "error coordinates" and a "tracking potential" on the rotations affords a global...

We develop a formalism for describing and analyzing a very simple representative of a class...

We investigate the computational needs of advanced real-time robot control. First, sampling rate issues in...

Strict Lyapunov functions are constructed for a class of nonlinear feedback compensated mechanical systems, requiring...

The limits in global navigation capability of potential function based robot control algorithms are explored....

Earlier results of this author and others demonstrate that a broad range of robotic tasks...

This paper introduces a class of linearizing coordinate transformations for mechanical systems whose moment of...

This paper describes some initial steps toward the development of more natural control strategies for...

Since Hilbert posed the problem of systematically counting and locating lhe limit cycle of polynomial...

This note states necessary and sufficient conditions for the existence of a linear state feedback...

This paper investigates the stability properties of second-order systems, x^. = ƒ(x), where ƒ(x) contains...

The concept of an automaton operating in a multi-teacher environment is introduced, and several interesting...