This paper exploits screw theory expressed via unit dual quaternion representation and its
algebra to formulate both the forward (position+ velocity) kinematics and pose control of an n …

This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-
loop spatial metamorphic mechanism, the Origaker is able to transform between different …

This paper addresses robustness to external disturbances of switched discrete and
continuous systems with multiple equilibria. First, we prove that if each subsystem of the …

In this paper, we address the rigid body pose stabilization problem using dual quaternion
formalism. We propose a hybrid control strategy to design a switching control law with …

This paper addresses the problem of real-time planning in constrained dual-arm
manipulation scenarios. Our proposed coupling leverages manipulability information of the …

Future robots operating in fast-changing anthropomorphic environments need to be reactive,
safe, flexible, and intuitively use both arms (comparable to humans) to handle task-space …

Similar to human work, robotic tasks sometimes require two hands to be accomplished. This
requires coordinated motion planning and control. While fulfilling the task in a coordinated …

This paper proposes a robust dual-quaternion based H∞ task-space kinematic controller for
robot manipulators. To address the manipulator liability to modeling errors, uncertainties …

This paper presents two approaches to obtain the dynamical equations of mobile
manipulators using dual quaternion algebra. The first one is based on a general recursive …

This letter studies stability of a class of discrete-time switched systems under arbitrary
switching in which each subsystem has a different equilibrium. We extend the concept of a …