Carlos Ma

Null-Space-Avoidance-Based Orientation Control Framework for Underactuated, Tail-Inspired Robotic Systems in Flight Phase

In this letter, we propose a unified framework to address underactuated orientation control problems of the tailed robot in flight phase through a 2 DoFs actuated tail. We approach the underactuated control problem from the perspective of an inverse problem of an over-constrained Jacobian matrix. Th