3 accepted papers
This letter addresses the problem of causal velocity estimation of motion signals exhibiting sudden velocity changes. It is explicitly assumed that only sampled quantized position data are available, and that no dynamic system model is at hand, to allow for an effective solution with minimal a prior
This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a dyna…
In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation frame that depends only on the current robot configuration and pro