Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

An underactuated mechanical system (UMS) is a system which has fewer independent
control actuators than degrees of freedom to be controlled. Control of UMS is considered as …

A comprehensive introduction to hybrid control systems and design Hybrid control systems
exhibit both discrete changes, or jumps, and continuous changes, or flow. An example of a …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …

This article presents a layered control approach for real-time trajectory planning and control
of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A …

This work focuses on the modeling and control of an innovative configuration of aerial robot
arising from the combination of a vertical take-off and landing aircraft and a robotic arm. The …

In this paper we develop the concept of reduction-based control, which is founded on a
controlled form of geometric reduction known as functional Routhian reduction. We prove a …

A planar compass-like biped on a shallow slope is one of the simplest models of a passive
walker. It is a 2-degree-of-freedom (DOF) impulsive mechanical system that is known to …

This paper investigates the connection between non-prehensile manipulation, specifically
juggling, and legged locomotion, focusing on biped robots. In this direction, the hybrid …