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Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach
This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is ap...
| Autores principales: | , , , , , |
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| Lenguaje: | eng |
| Publicado: |
2019
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| Materias: | |
| Acceso en línea: | https://dx.doi.org/10.1109/tro.2018.2887356 http://cds.cern.ch/record/2759044 |