Murphey:Multiple Point Contact and Distributed Manipulation
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Fully Actuated Control |
Global Stability |
Global Stability |
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Description of Fully-Actuated Experiment |
Description of Global Stability Experiment |
Description of Under-Actuated Experiment |
This is an experiment from my PhD work in which four constrained actuators manipulate a supported object. Because of the geometric structure of the problem, this control problem may be solved using purely kinematic structure in a hybrid control setting.