Robot Modeling and Control

By Mark W. Spong, Seth A. Hutchinson, Mathukumalli Vidyasagar. 2005

3,668 citations recorded by the source corpus.

View Paper: https://www.semanticscholar.org/paper/e36d8289d7474d407fbc2d47d249385f4c3da683

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Citations in the corpus

Planning algorithms (2006, background): “Many robotics texts cover cases in which there are more links, different kinds of joints, and frictional forces [368, 728, 858, 908, 994].”
Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, unknown): “For rigid-link robots, the well-established Denavit-Hartenberg (D-H) convention [1] provides a general underlying framework for the development of kinematic (and dynamic) models.”
Probabilistic model-based imitation learning (2013, background): “, about rigid-body dynamics or linear friction), which are typically made when learning parametric forward models in robotics [39].”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “where q is a set of generalized coordinates and u denotes the vector of actuator torques [164,218].”
Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control (2014, methodology): “The forward kinematics can be conveniently expressed using the DenavitHartenberg (DH) convention (Spong et al., 2006), where each link configuration is represented by the homogeneous transformation”
Distributed leaderless consensus algorithms for networked Euler–Lagrange systems (2009, methodology): “The Euler–Lagrange equation of each two-link revolute joint arm is given in Spong and Vidyasagar (2006, pp. 259–262).”
Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance (2010, background): “IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY side are bounded: (by boundedness on ), and (by boundedness on [19]).”
Shared Autonomy with Learned Latent Actions (2020, background): “We therefore conclude that LA+SA yields uniformly ultimately bounded stability about the human’s goal, where δ affects the radius of this bound [29].”
A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms (2019, background): “ntroller is often placed between the policy and the actuator (Gullapalli et al., 1994). Using an additional controller allows the robot to leverage a large body of prior work on control for robotics (Spong et al., 2005). Example controllers include simple linear PID controllers as well as more compl”
Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph (2012, background): “…robot manipulators in joint space with unknown but constant masses, inertias and distances of the centers of mass of the links (Kelly et al., 2005; Spong et al., 2006), attitude dynamics of rigid bodies with unknown but constant inertias (Slotine & Li, 1991), and car-like robots with unknown mass…”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, background): “According to the principle of virtual work found in [37, 126, 189], the contact wrench is taken into account in the dynamic model as”
Robust Nonlinear Control for Path Tracking of a Quad‐Rotor Helicopter (2015, methodology): “For the sake of convenience, in this work this matrix is obtained through the well-known Christoffel Symbols (of the first kind), cijk(η), defined as follows [26]:”
Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems (2011, methodology): “Throughout the subsequent analysis we shall assume that the dynamics satisfy the following assumptions [18]: (A1) Boundedness: For any , there exist positive constants , , , and such that , where denotes the identity matrix, for all vectors , and .”
Synchronization of bilateral teleoperators with time delay (2008, background): “The reader is referred to Rodriguez-Seda, Lee, and Spong (2006) and Walsh (1994) for details on the manipulators and the stochastic Internet model respectively.”