scientific article; zbMATH DE number 821258
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Publication:4857368
zbMATH Open0858.70001MaRDI QIDQ4857368FDOQ4857368
Authors: Richard M. Murray, Zexiang Li, S. Shankar Sastry 
Publication date: 28 November 1995
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Recommendations
nonholonomic systemsdifferential geometrygraspingmatrix exponentialLie algebrasredundant manipulatorsLie bracketasymptotic trackingnonlinear control theoryhomogeneous coordinatesrigid body motioncontrol lawsmatrix Lie groupsnonholonomic motion planningparallel mechanismsLagrange's equationspiecewise constant controlsmanipulator Jacobiantheory of screwsinverse kinematics problemmultifingered robot handopen-chain robot manipulatorRitz basis functions
Kinematics of mechanisms and robots (70B15) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)
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- Geometric control of the trident snake robot based on CGA
- Distributed attitude synchronization control of multi-agent systems with switching topologies
- Geometric integrators for higher-order variational systems and their application to optimal control
- Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
- Predicting articulated human motion from spatial processes
- Symbolic computation for mobile robot path planning
- Can we find Willmore-like method for the tangential intersection problems?
- Controlled Lagrangian systems with gyroscopic forcing and dissipation
- Consistent definition of partial derivatives of matrix functions in dynamics of mechanical systems
- A unified approach to type synthesis of both rigid and flexure parallel mechanisms
- Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom
- Quasi-coordinates based dynamics modeling and control design for nonholonomic systems
- On generalized rotation matrices
- A twist exponential approach to gear generation with general spatial motions
- On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
- Geometric approach to Pontryagin's maximum principle
- An alternative approach to elliptical motion
- On rotation about lightlike axis in three-dimensional Minkowski space
- UGAS of skew-symmetric time-varying systems: application to stabilization of chained form systems
- Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems
- Kinematics constrained five-axis tool path planning for high material removal rate
- Symmetry and reduction for coordinated rigid bodies
- Energy-optimal control of unconstrained planar RR robot manipulators
- Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel
- Switching mode generation and optimal estimation with application to skid-steering
- A nonlinear position and attitude observer on SE(3) using landmark measurements
- Velocity field control of robot manipulators by using only position measurements
- New integrability conditions for differential constraints
- Embeddings of the Euclidean algebra \(\mathfrak{e}(3)\) into \(\mathfrak{sl}(4,\mathbb{C})\) and restrictions of irreducible representations of \(\mathfrak{sl}(4,\mathbb{C})\)
- On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
- A short note on point singularities for robot manipulators
- Passivity-based visual motion observer with panoramic camera for pose control
- On the comparisons of unit dual quaternion and homogeneous transformation matrix
- Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates
- Exponential convergence of a nonlinear attitude estimator
- Book review of: T. Hatanaka et al., Passivity-based control and estimation in networked robotics
- An iterative approach for cone complementarity problems for nonsmooth dynamics
- Rigid body mechanics in Galilean spacetimes
- Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators
- Mechanical integrators derived from a discrete variational principle
- Nonholonomic mechanical systems with symmetry
- Dynamics-based motion planning for a pendulum-actuated spherical rolling robot
- Output-feedback control for stabilization on \(\mathrm{SE}(3)\)
- Numerical method for the time-optimal response problem with phase constraints for the simplest model of a one-legged jumping robot
- Control of 3-link robotic snake based on conformal geometric algebra
- Optimal control of the thrusted skate
- Geometric pseudospectral method on \(SE(3)\) for rigid-body dynamics with application to aircraft
- Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations
- Locomotion dynamics for bio-inspired robots with soft appendages: application to flapping flight and passive swimming
- A classification of configuration spaces of planar robot arms for a continuous inverse kinematics problem
- On the Controllability of the Rolling Problem onto the Hyperbolic $n$-space
- Application of Newton's law of motion to constrained mechanical systems possessing configuration manifolds with time-dependent geometric properties
- Group-valued regularization for motion segmentation of articulated shapes
- Relativistic Chasles' theorem and the conjugacy classes of the inhomogeneous Lorentz group
- On application of Newton's law to mechanical systems with motion constraints
- Exponentially convergent control laws for nonholonomic systems in power form
- Optimization-based simulation of nonsmooth rigid multibody dynamics
- Modal reduction procedures for flexible multibody dynamics
- A set of ordinary differential equations of motion for constrained mechanical systems
- Geometrically exact beam finite element formulated on the special Euclidean group \(SE(3)\)
- Algebraic synthesis of time-optimal unitaries in \(\mathrm{SU}(2)\) with alternating controls
- Hamilton–Jacobi equations for nonholonomic dynamics
- A two-step algorithm of smooth spline generation on Riemannian manifolds
- Symmetries of the rolling model
- Computation for maximum stable grasping in dynamic force distribution
- Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems.
- Tool path optimisation for flank milling ruled surface based on the distance function
- Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum
- Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
- Optimal control on Lie groups with applications to attitude control
- Dynamics modeling of nonholonomic mechanical systems: Theory and applications
- Structure-preserving model reduction for mechanical systems
- A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates
- Dynamic bipedal walking under stick-slip transitions
- Dubin's problem on surfaces. I: Nonnegative curvature
- Shallow-water sloshing in vessels undergoing prescribed rigid-body motion in two dimensions
- Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator
- On the generalized essential matrix correction: an efficient solution to the problem and its applications
- A multi-joint model of quiet, upright stance accounts for the ``uncontrolled manifold structure of joint variance
- Geometric characterization of the workspace of non-orthogonal rotation axes
- A variational principle for three-dimensional interactions between water waves and a floating rigid body with interior fluid motion
- Local controllability of snake robots based on CRA, theory and practice
- Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control.
- Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems
- Models for three new screw-based IK sub-problems using geometric descriptions and their applications
- Online optimization of LTI systems under persistent attacks: stability, tracking, and robustness
- Singularities of holonomic and non-holonomic robotic systems: a normal form approach
- Global exponential stabilization of nonlinear systems via width time-dependent periodically intermittent smooth control
- On the topology of the eigenframe of the subgrid-scale stress tensor
- A time-dependent energy-momentum method
- On geometric control models of a robotic snake
- On the Hamel coefficients and the Boltzmann-Hamel equations for the rigid body
- Asymptotic stabilization of a system of coupled \(n\)th-order differential equations with potentially unbounded high-frequency oscillating perturbations
- Solution of an inverse kinematics problem using dual quaternions
- Global attitude and gyro bias estimation based on set-valued observers
- Geometrically exact thin-walled beam including warping formulated on the special Euclidean group \(SE(3)\)
- Redundancy, Self-Motion, and Motor Control
- Application of an augmented Lagrangian approach to multibody systems with equality motion constraints
- Title not available (Why is that?)
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