zbMath0858.70001MaRDI QIDQ4857368
Richard M. Murray, Zexiang Li, Shankar S. Sastry
Publication date: 28 November 1995
Title: zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control. ⋮
CGA-based robotic snake control ⋮
Geometric control of the trident snake robot based on CGA ⋮
Online optimization of LTI systems under persistent attacks: stability, tracking, and robustness ⋮
Global exponential stabilization of nonlinear systems via width time-dependent periodically intermittent smooth control ⋮
Nonholonomic mechanical systems with symmetry ⋮
Feed-forward control of a redundant motor system ⋮
A control theory approach to the analysis and synthesis of the experimentally observed motion primitives ⋮
Robust global bimodal rest-to-rest attitude control of rigid body using unit quaternion ⋮
Translation and attitude synchronization for multiple rigid bodies using dual quaternions ⋮
Explicit formulation of multibody dynamics based on principle of dynamical balance and its parallelization ⋮
Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator ⋮
Cartesian control of robots without dynamic model and observer design ⋮
Symbolic computation for mobile robot path planning ⋮
An approximate characterisation of the set of feasible trajectories for constrained flat systems ⋮
Locomotion dynamics for bio-inspired robots with soft appendages: application to flapping flight and passive swimming ⋮
Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example ⋮
Local stability of PD controlled bipedal walking robots ⋮
Local geometric control of a certain mechanism with the growth vector \((4,7)\) ⋮
First steps toward formal controller synthesis for bipedal robots with experimental implementation ⋮
An alternative proof of Euler's rotation theorem ⋮
Controllability and accessibility results for \(N\)-link horizontal planar manipulators with one unactuated joint ⋮
Extended information filter on matrix Lie groups ⋮
Boundary cooperative control by flexible Timoshenko arms ⋮
Symmetries in geometric control theory using Maple ⋮
Fractional derivative for interpolation in \(\mathbb{R}^n\) and \(\mathrm{SO}(n)\) applications in functionally graded materials and rigid body transformations ⋮
The physical foundations of geometric mechanics ⋮
Dynamic modeling of parallel manipulators based on Lagrange-d'Alembert formulation and Jacobian/Hessian matrices ⋮
Singularity-free simulation of closed-loop multibody systems by using null space of Jacobian matrix ⋮
Positive dimensional parametric polynomial systems, connectivity queries and applications in robotics ⋮
A process account of the uncontrolled manifold structure of joint space variance in pointing movements ⋮
Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory ⋮
\textit{Lie-X}: depth image based articulated object pose estimation, tracking, and action recognition on Lie groups ⋮
Shallow-water sloshing in vessels undergoing prescribed rigid-body motion in two dimensions ⋮
On some weaknesses existing in optimal grasp planning ⋮
An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators ⋮
Modular and recursive kinematics and dynamics for parallel manipulators ⋮
Principle of dynamical balance for multibody systems ⋮
Dynamic torsional buckling: prebuckling waves and delayed instability ⋮
Grasping force based manipulation for multifingered hand-arm robot using neural networks ⋮
Global attitude and gyro bias estimation based on set-valued observers ⋮
Consistent definition of partial derivatives of matrix functions in dynamics of mechanical systems ⋮
On the generalized essential matrix correction: an efficient solution to the problem and its applications ⋮
Mechanical integrators derived from a discrete variational principle ⋮
Modeling viscoelastic behavior in flexible multibody systems ⋮
Generation and application of prestress in redundantly full-actuated parallel manipulators ⋮
Reachability set of a three-dimensional cascade control system ⋮
Stable Gaussian process based tracking control of Euler-Lagrange systems ⋮
Singularities of holonomic and non-holonomic robotic systems: a normal form approach ⋮
Dynamics-based motion planning for a pendulum-actuated spherical rolling robot ⋮
Geometrically exact thin-walled beam including warping formulated on the special Euclidean group \(SE(3)\) ⋮
A time-dependent energy-momentum method ⋮
Pose synchronization of multiple rigid bodies under average dwell time condition ⋮
Vector field based sliding mode control of curved path following for miniature unmanned aerial vehicles in winds ⋮
A multi-joint model of quiet, upright stance accounts for the ``uncontrolled manifold structure of joint variance ⋮ On the estimation of continuous mappings from cradle-style to 6-axis machines for face-milled hypoid gear generation ⋮ Computation for maximum stable grasping in dynamic force distribution ⋮ Control of spatial motion relative to moving external objects ⋮ Model-based control strategies for systems with constraints of the program type ⋮ A two-step algorithm of smooth spline generation on Riemannian manifolds ⋮ Velocity field control of robot manipulators by using only position measurements ⋮ Attainability sets in cascade control systems ⋮ 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 ⋮ Optimal steering for an extended class of nonholonomic systems using Lagrange functional ⋮ Solution of an inverse kinematics problem using dual quaternions ⋮ New integrability conditions for differential constraints ⋮ Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group ⋮ Quantization of the rolling-body problem with applications to motion planning ⋮ Explicit Wei-Norman formulae for matrix Lie groups via Putzer's method ⋮ Pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula for affine nonholonomic systems ⋮ A geometric optimization method for the trajectory planning of flexible manipulators ⋮ Path defined directed graph vector (\textit{Pgraph}) method for multibody dynamics ⋮ Modal reduction procedures for flexible multibody dynamics ⋮ Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations ⋮ Trajectory design for mechanical control systems: from geometry to algorithms ⋮ Controlled Lagrangian systems with gyroscopic forcing and dissipation ⋮ Symmetry and reduction for coordinated rigid bodies ⋮ UGAS of skew-symmetric time-varying systems: application to stabilization of chained form systems ⋮ An intrinsic approach to formation control of regular polyhedra for reduced attitudes ⋮ Geometric characterization of the workspace of non-orthogonal rotation axes ⋮ A compact formula for the derivative of a 3-D rotation in exponential coordinates ⋮ Application of an augmented Lagrangian approach to multibody systems with equality motion constraints ⋮ The equations of motion for a rigid body using non-redundant unified local velocity coordinates ⋮ Local controllability of snake robots based on CRA, theory and practice ⋮ Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems. ⋮ Models for three new screw-based IK sub-problems using geometric descriptions and their applications ⋮ Robust finite-time stabilisation of an arbitrary-order nonholonomic system in chained form ⋮ The wheeled three-link snake model: singularities in nonholonomic constraints and stick-slip hybrid dynamics induced by Coulomb friction ⋮ Inverse kinematics in robotics using neural networks ⋮ Closed-form time derivatives of the equations of motion of rigid body systems ⋮ Stability analysis and stabilization of linear symmetric matrix-valued continuous, discrete, and impulsive dynamical systems -- a unified approach for the stability analysis and the stabilization of linear systems ⋮ Symmetry and motion primitives in model predictive control ⋮ Pose estimation in conformal geometric algebra. I: The stratification of mathematical spaces ⋮ Pose estimation in conformal geometric algebra. II: Real-time pose estimation using extended feature concepts ⋮ Pose estimation of 3D free-form contours ⋮ Optimization-based simulation of nonsmooth rigid multibody dynamics ⋮ Optimal control of the thrusted skate ⋮ Position and attitude tracking control using CCW and SNI system theory with applications to multi-agent systems ⋮ Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies ⋮ Can we find Willmore-like method for the tangential intersection problems? ⋮ Formalization of camera pose estimation algorithm based on Rodrigues formula ⋮ On rotation about lightlike axis in three-dimensional Minkowski space ⋮ An alternative approach to elliptical motion ⋮ Formal analysis of the kinematic Jacobian in screw theory ⋮ Exponential convergence of a nonlinear attitude estimator ⋮ Book review of: T. Hatanaka et al., Passivity-based control and estimation in networked robotics ⋮ Energy-optimal control of unconstrained planar RR robot manipulators ⋮ Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems ⋮ Exponentials of skew-symmetric matrices and logarithms of orthogonal matrices ⋮ Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation ⋮ Control of 3-link robotic snake based on conformal geometric algebra ⋮ Importance and effectiveness of representing the shapes of Cosserat rods and framed curves as paths in the special Euclidean algebra ⋮ Application of Newton's law of motion to constrained mechanical systems possessing configuration manifolds with time-dependent geometric properties ⋮ A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates ⋮ 3-D structure from visual motion: Modeling, representation and observability ⋮ On application of Newton's law to mechanical systems with motion constraints ⋮ On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors ⋮ Dynamic output feedback based active decentralized fault-tolerant control for reconfigurable manipulator with concurrent failures ⋮ Formal kinematic analysis of a general 6R manipulator using the screw theory ⋮ Geometric collocation method on SO(3) with application to optimal attitude control of a 3D rotating rigid body ⋮ Formal power series, operator calculus, and duality on Lie algebras ⋮ On Cartesian stiffness matrices in rigid body dynamics: an energetic perspective ⋮ Intrinsic reduced attitude formation with ring inter-agent graph ⋮ Inverse dynamics analysis for a 3-PRS parallel mechanism based on a special decomposition of the reaction forces ⋮ System identification for a miniature helicopter at hover using fuzzy models ⋮ Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking ⋮ Predicting articulated human motion from spatial processes ⋮ Method for computing exterior and interior approximations to the reachability sets of bilinear differential systems ⋮ Symmetries of the rolling model ⋮ A unified approach to type synthesis of both rigid and flexure parallel mechanisms ⋮ Whittaker modules and quasi-Whittaker modules for the Euclidean Lie algebra \(\mathfrak{e}(3)\) ⋮ Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom ⋮ Rotations on a lightcone in Minkowski 3-space ⋮ Quasi-coordinates based dynamics modeling and control design for nonholonomic systems ⋮ On generalized rotation matrices ⋮ Switching mode generation and optimal estimation with application to skid-steering ⋮ Kinematics constrained five-axis tool path planning for high material removal rate ⋮ Structure-preserving model reduction for mechanical systems ⋮ A generic force-closure analysis algorithm for cable-driven parallel manipulators ⋮ Screw and Lie group theory in multibody dynamics ⋮ Dynamic advantages of singular configurations in moving heavy object by a two-link mechanism ⋮ A short note on point singularities for robot manipulators ⋮ Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations ⋮ Passivity-based visual motion observer with panoramic camera for pose control ⋮ A novel kinematics analysis method using quaternion interpolation -- a case study in frog jumping ⋮ Decentralized cooperative tracking subject to motion constraints ⋮ Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators ⋮ Dual PD control regulation with nonlinear compensation for a ball and plate system ⋮ Distributed attitude synchronization control of multi-agent systems with switching topologies ⋮ A novel optimal design of measurement configurations in robot calibration ⋮ Key-skeleton-pattern mining on 3D skeletons represented by Lie group for action recognition ⋮ Numerical method for the time-optimal response problem with phase constraints for the simplest model of a one-legged jumping robot ⋮ Geometric pseudospectral method on \(SE(3)\) for rigid-body dynamics with application to aircraft ⋮ Design of optimal hybrid position/force controller for a robot manipulator using neural networks ⋮ Onset of shear band localization by a local generalized eigenvalue analysis ⋮ Investigation on Kane dynamic equations based on screw theory for open-chain manipulators ⋮ Orientation control on SO(3) with piecewise sinusoids ⋮ Finite horizon robustness analysis of LTV systems using integral quadratic constraints ⋮ A set of ordinary differential equations of motion for constrained mechanical systems ⋮ Motion optimization using Gaussian process dynamical models ⋮ Kinematic analysis of multibody systems ⋮ A classification of configuration spaces of planar robot arms for a continuous inverse kinematics problem ⋮ Global stability of a class of futile cycles ⋮ Involutive flows and discretization errors for nonlinear driftless control systems ⋮ Conservation and decay laws in distributed coordination control systems ⋮ Intrinsic tetrahedron formation of reduced attitude ⋮ Geometric integrators for higher-order variational systems and their application to optimal control ⋮ Output-feedback control for stabilization on \(\mathrm{SE}(3)\) ⋮ Geometric methods and formulations in computational multibody system dynamics ⋮ Stabilizability and motion tracking conditions for mechanical nonholonomic control systems ⋮ Strapdown inertial navigation system algorithms based on geometric algebra ⋮ A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry ⋮ Hybrid position/force control of a flexible parallel manipulator ⋮ Repeatable approximation of the Jacobian pseudo-inverse ⋮ An iterative approach for cone complementarity problems for nonsmooth dynamics ⋮ A nonlinear position and attitude observer on SE(3) using landmark measurements ⋮ Type synthesis of a class of spatial lower-mobility parallel mechanisms with orthogonal arrangement based on Lie group enumeration ⋮ Neural network robust \(H_\infty\) tracking control strategy for robot manipulators ⋮ Dynamic model based nonlinear tracking control of a planar parallel manipulator ⋮ Dynamics modeling of nonholonomic mechanical systems: Theory and applications ⋮ Efficient distance computation in configuration space ⋮ The mechanism theory and application of deployable structures based on SLE ⋮ A twist exponential approach to gear generation with general spatial motions ⋮ Geometrically exact beam finite element formulated on the special Euclidean group \(SE(3)\) ⋮ On the comparisons of unit dual quaternion and homogeneous transformation matrix ⋮ A Hamiltonian approach to fault isolation in a planar vertical take-off and landing aircraft model ⋮ Algebraic synthesis of time-optimal unitaries in \(\mathrm{SU}(2)\) with alternating controls ⋮ Optimal control on Lie groups with applications to attitude control ⋮ On a computationally simple form of the generalized Campbell--Baker-Hausdorff-Dynkin formula ⋮ Exponentially convergent control laws for nonholonomic systems in power form ⋮ The geometric structure of unit dual quaternion with application in kinematic control ⋮ Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace ⋮ Generic mobility of rigid body mechanisms ⋮ Geometric approach to Pontryagin's maximum principle ⋮ Non-jamming conditions in multi-contact rigid-body dynamics ⋮ Reduced equations for nonholonomic mechanical systems with dissipative forces ⋮ A general framework for geometry design of indexing CAM mechanism ⋮ Finite-time optimal control of polynomial systems using successive suboptimal approximations ⋮ Dubin's problem on surfaces. I: Nonnegative curvature ⋮ Roto-translation invariant formation of fixed-wing UAVs in 3D: feasibility and control ⋮ Stable Synchronous Propagation of Signals by Feedforward Networks ⋮ Framework for the full N-body problem in \(\mathsf{SE}(3)\) and its reduction to the circular restricted full three-body problem ⋮ Utilizing the geometric mechanics framework to predict attitude in a full ephemeris model of the Cislunar region ⋮ Minimum-time optimal control of robotic manipulators based on Hamel's integrators ⋮ Simulation and trajectory optimization of articulated robots via spectral variational integrators ⋮ Adaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot ⋮ Joint tracking controller for multi-link flexible robot using disturbance observer and parameter adaptation scheme ⋮ Finsler geometries on strictly accretive matrices ⋮ Tool path optimisation for flank milling ruled surface based on the distance function ⋮ A technique for improving the computation of functions of triangular matrices ⋮ Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel ⋮ Embedded control system for a four‐rotor UAV ⋮ A rigorous framework for interactive robot control ⋮ Fast and Simple Interacting Models of Drape Tool and Ply Material for Handling Free Hanging, Pre-impregnated Carbon Fibre Material ⋮ Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project ⋮ Active force closure for multiple objects ⋮ Event-triggered integral sliding mode controller for rigid spacecraft attitude tracking with angular velocity constraint ⋮ Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive ⋮ Nonholonomic Rolling Nonprehensile Manipulation Primitive ⋮ A Coordinate-Free Framework for Robotic Pizza Tossing and Catching ⋮ Sensor Network Localization on the Group of Three-Dimensional Displacements ⋮ A passivity‐based control of Euler‐Lagrange systems with a non‐quadratic Lagrangian ⋮ A Novel Kinematic Model for Rough Terrain Robots ⋮ Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum ⋮ Synchronization of Independently Moving Cameras via Motion Recovery ⋮ Autonomous navigation of ships by combining optimal trajectory planning with informed graph search ⋮ Optimization Problems Associated with Manifold-Valued Curves with Applications in Computer Vision ⋮ Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs ⋮ Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates ⋮ Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain ⋮ Geometric phases and robotic locomotion ⋮ Fast and robust algorithm for energy minimization of spin systems applied in an analysis of high temperature spin configurations in terms of skyrmion density ⋮ Inverse kinematics of a 5-DOF hybrid manipulator ⋮ Local control of 2-link robotic worms based on additional symmetries ⋮ A reduced-order Lie group-based race car model for systematic trajectory optimization on 3D tracks ⋮ A total Lagrangian, objective and intrinsically locking‐free Petrov–Galerkin SE(3) Cosserat rod finite element formulation ⋮ Dynamical optimal transport of nonlinear control-affine systems ⋮ Finite horizon robust synthesis using integral quadratic constraints ⋮ Periodic solutions of the non-chiral intermediate Heisenberg ferromagnet equation described by elliptic spin Calogero-Moser dynamics ⋮ Explicit reference governor on \(SO(3)\) for torque and pointing constraint management ⋮ A novel motion-reconstruction method for inertial sensors with constraints ⋮ A topologist’s view of kinematic maps and manipulation complexity ⋮ Position Control via Force Feedback in the Port-Hamiltonian Framework ⋮ On the topology of the eigenframe of the subgrid-scale stress tensor ⋮ Symmetry in Optimal Control: A Multiobjective Model Predictive Control Approach ⋮ Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design ⋮ Differential Relations and Recurrence Formulas for Representations of Lie Groups ⋮ A variational principle for three-dimensional interactions between water waves and a floating rigid body with interior fluid motion ⋮ Coordinate‐free kinematic analysis of overconstrained mechanisms with mobility one ⋮ Simplex sliding mode control for autonomous six‐DOF vehicles with mono‐directional actuators: Robustness, stability, and implementation issues ⋮ Midpoint rule for variational integrators on Lie groups ⋮ Kinematic Comparison of Exponential and Cayley Maps in the Planar Motion Group ⋮ Relativistic Chasles' theorem and the conjugacy classes of the inhomogeneous Lorentz group ⋮ Nonlinear observer for distributed parameter systems described by decoupled advection equations ⋮ Stochastic stabilization of rigid body motion of a spacecraft on SE(3) ⋮ Geometric-control formulation and averaging analysis of the unsteady aerodynamics of a wing with oscillatory controls ⋮ Modular chemical geometry and symbolic calculation ⋮ Stabilization of relative equilibria for underactuated systems on Riemannian manifolds ⋮ Hamilton–Jacobi equations for nonholonomic dynamics ⋮ Kinematics of mobile manipulators and implications for design ⋮ An operational calculus for the Euclidean motion group with applications in robotics and polymer science ⋮ Solving optimal control problems by means of general Lagrange functionals ⋮ Asymptotic stabilization of the hanging equilibrium manifold of the 3D pendulum ⋮ A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem ⋮ On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers ⋮ Explicit Structured Singular Value Analysis of Manipulators with Passivity Based Control ⋮ On control of a base-excited inverted pendulum using neural networks ⋮ A geometric approach for quadrotor trajectory tracking control ⋮ Generating hyperbolical rotation matrix for a given hyperboloid ⋮ Numerical inverse kinematics for modular reconfigurable robots ⋮ Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems ⋮ Robot control for robust stability with finite reachability time in the whole ⋮ Mathematical Modelling of Poor Nutrition in the Human Life Cycle ⋮ Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric ⋮ Finite Horizon Maximum Likelihood Estimation for Integrated Navigation with RF Beacon Measurements ⋮ Finite time stable attitude estimation of rigid bodies with unknown dynamics ⋮ Redundancy, Self-Motion, and Motor Control ⋮ Efficient Contact Mode Enumeration in 3D ⋮ Bijectivity Certification of 3D Digitized Rotations ⋮ Determinig of an object orientation in 3D space using direction cosine matrix and non-stationary Kalman filter ⋮ Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination ⋮ Exponential Stability for a Class of Fractional Order Dynamic Systems ⋮ Parameter Identification and Model-Based Control of Redundantly Actuated, Non-holonomic, Omnidirectional Vehicles ⋮ On geometric control models of a robotic snake ⋮ Local controllability of trident snake robot based on sub-Riemannian extremals ⋮ Control of non holonomic or under-actuated mechanical systems: The examples of the unicycle robot and the slider ⋮ A geometric approach to position tracking control of a nonholonomic planar rigid body: case study of an underwater vehicle ⋮ Modified transfer matrix method for steady-state forced vibration: a system of beam elements* ⋮ Modeling Highly Random Dynamical Infectious Systems ⋮ Linear PID Composite Controller and its Tuning for Flexible Link Robots ⋮ Modified transfer matrix method for steady-state forced vibration: a system of bar elements ⋮ Optimal control problems on parallelizable Riemannian manifolds: theory and applications ⋮ Dynamic Bipedal Walking under Stick-Slip Transitions ⋮ Compliant grasping with passive forces ⋮ Cornell university's 2005 DARPA grand challenge entry ⋮ On the Controllability of the Rolling Problem onto the Hyperbolic $n$-space ⋮ Embeddings of the Euclidean algebra $\mathfrak {e}(3)$e(3) into $\mathfrak {sl}(4,\mathbb {C})$sl(4,C) and restrictions of irreducible representations of $\mathfrak {sl}(4,\mathbb {C})$sl(4,C) ⋮ Unnamed Item ⋮ Unnamed Item ⋮ Group-Valued Regularization for Motion Segmentation of Articulated Shapes ⋮ Conformational analysis of stiff chiral polymers with end-constraints ⋮ Rigid body mechanics in Galilean spacetimes ⋮ Robust global distributed attitude control for multiple rigid bodies using a hybrid controller ⋮ Adaptive fuzzy sliding mode algorithm-based decentralised control for a permanent magnet spherical actuator