This repository contains a Simscape model of a quadrupeded robot able to walk on flat and inclined terrain, with a environment that presents different obstacles, and the posibility of open-loop or ...
Abstract: In this article, a new learning-based time-varying impedance controller is proposed and tested to facilitate an autonomous physical human–robot interaction (pHRI). Novel adaptation laws are ...
Abstract: This work provides a tutorial to model a nonlinear system by means of a set of linear parameter varying (LPV) systems, linearized around equilibrium points in which the control design will ...
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