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Push recovery is of vital importance for biped robots due to the complexity of the non-experimental environment. This paper proposes an external force observer aided push recovery control framework for the inexpensive biped robot. Initially, a linear external force observer is designed. This...
Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another. Despite their overall success, a recently emerging...
A redundant manipulator can have many trajectories for joints that follow a given end-effector path in the Cartesian space, since it has multiple inverse kinematics solutions per end-effector pose. While maintaining accuracy with the given end-effector path, it is challenging to quickly...
In this paper, we present a decentralised algorithm to form a coverage around a large structure using autonomous sensor agents. Forming a coverage around a structure is defined using a set of objectives. Structures are formally categorised into objects and obstacles, and defined based on the...
Traditional path planning methods, such as sampling-based and iterative approaches, allow for optimal path’s computation in complex environments. Nonetheless, environment exploration is subject to rules which can be obtained by domain experts and could be used for improving the search. The...
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