We consider mechanical systems with intermittent contact that are smooth and holonomic
except at the instants of transition. Overall such systems can be nonholonomic in that the …

This paper presents the development of the robotic multi-agent system SMART. In this
system, the agent concept is applied to both hardware and software entities. Hardware …

This paper considers nonlinear kinematic controllability of a class of systems called
stratified. Roughly speaking, such stratified systems have a configuration space which can …

This thesis is about control and balance stability of legged locomotion. It also presents a
combination of tools that makes it easier to design controllers for large and complicated …

We seek to formulate control and motion planning algorithms for a class of dynamic robotic
locomotion systems. We consider mechanical systems that involve some type of interaction …

The Chaplygin sleigh is a canonical problem of mechanical systems with nonholonomic
constraints. Such constraints often arise due to the role of a no-slip requirement imposed by …

We investigate basic issues of motion planning for a class of dynamic mobile robots,
focusing on eel-like swimming robots. A primary characteristic of this class of robots is that …

Many interesting and important control systems evolve on stratified configuration spaces.
Roughly speaking, a configuration manifold is called" stratified" if it contains subspaces …

We present a general method for determining controllability of a class of kinematic legged
robots. The method is general in that it is independent of the robot's morphology; in …

This paper presents a general, nonholonomic dextrous manipulation and finger gaiting
technique for robotic gras** problems. This method is general in that it is independent of …