Maintaining a stable trunk while driving over rough terrain is a challenging issue for a multi-
wheel-leg mobile robot, since the control coupling between the legs and the trunk has a …

The swarm planar underactuated robots have the ability to organize each robot to complete
task in a finite time and the characteristics of ignoring gravity, energy saving, light weight …

The car-like mobile robot (CLMR) is a kind of wheeled robot that has many applications in
industry, transportation, security, etc. The CLMR considered in this study has rear-wheel …

In this paper, we propose a general control method via the intelligent algorithm for a planar
R-type underactuated robot. This control method solves the unified control problem of R-type …

Accuracy and safety are two important factors in redundant arm control. Generally, physical
constraints should be taken into account for safe operation of redundant arm. By …

This paper presents a position control strategy for a planar active-passive-active (APA)
underactuated manipulator with second-order nonholonomic characteristics. According to …

Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated
manipulator (PUM) is more difficult, but the research on it is significant due to the wide …

For the planar robot with underactuated constraints, a stable control method is presented on
the foundation of motion planning method and intelligent optimization, which includes two …

For a planar underactuated manipulator (PUM), if one of its joints is passive except for the
first joint, it has the second-order nonholonomic constraint. This paper develops a novel …

Base stability for a wheeled robot while driving over rough terrain is a challenging issue.
This paper proposes a novel base-stability control framework, consisting of an AVIC …