Adaptive Control of Wire-Borne Underactuated Brachiating Robots Using Control Lyapunov and Barrier Functions
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DOI: 10.1109/tcst.2022.3160058
Abstract: Executing safe brachiation maneuvers with a cable-suspended underactuated robot is a challenging problem due to the complications induced by the cable dynamics. We present and experimentally implement an online adaptive controller for a wire-borne brachiating… read more here.
Keywords: wire borne; cable; control lyapunov; control ... See more keywords