Hierarchical coupling control of cable-driven multi-loop crane for underactuated positioning
B Zhu, T Zhao, Z Tang, S Ding, E Li - International Journal of Mechanical …, 2023 - Elsevier
For the low-cost anti-swing retrofit of existing offshore heavy cranes, a (2-UPPU/UPU) UP
multi-loop configuration with six cable-driven prismatic pairs and a UP underactuated …
multi-loop configuration with six cable-driven prismatic pairs and a UP underactuated …
A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot
K Yang, X Liu, C Liu, X Tan - Biomimetics, 2023 - mdpi.com
The motion process of legged robots contains not only rigid-body motion but also flexible
motion with elastic deformation of the legs, especially for heavy loads. Hence, the …
motion with elastic deformation of the legs, especially for heavy loads. Hence, the …
[PDF][PDF] Kinodynamic Planning and Control of Agile and Graceful Robot Motions
2 Objectives With this thesis we first want to develop objective metrics and expressions in
order to transform the abstract concepts of agility and gracefulness into concrete measurable …
order to transform the abstract concepts of agility and gracefulness into concrete measurable …