Holonomic constraints

Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments

Silvia Mastellone, Dušan M. Stipanović, Christopher R. Graunke, Koji A. Intlekofer, Mark W. Spong

Citations: 450 • 2007

Control of Mechanical Systems With Rolling Constraints

Nilanjan Sarkar, Xiaoping Yun, Vijay Kumar

Citations: 332 • 1994

Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots

Javier Alonso–Mora, Andreas Breitenmoser, Martin Rufli, Paul Beardsley, Roland Siegwart

Citations: 278 • 2012

Finite-time stability of cascaded time-varying systems

Shihua Li, Yu‐Ping Tian

Citations: 248 • 2007

Computation of input generalized forces for robots with closed kinematic chain mechanisms

J. Luh, Yuan‐Fang Zheng

Citations: 172 • 1985

Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds

E. R. Westervelt, Gabriel Buche, Jessy W. Grizzle

Citations: 170 • 2004

Principles of superposition for controlling pinch motions by means of robot fingers with soft tips

S. Arimoto, Kenji Tahara, M. Yamaguchi, P.T.A. Nguyen, Mo Han

Citations: 161 • 2001

Modelling and control of non-holonomic wheeled mobile robots

Brigitte d’Andréa-Novel, Georges Bastin, G. Campion

Citations: 154 • 2002

Finding collision-free smooth trajectories for a non-holonomic mobile robot

Jean‐Paul Laumond

Citations: 123 • 1987

Non-holonomic integrators

Jorge Cortés, Sonia Martı́nez

Citations: 111 • 2001

Unified formulation of robotic systems with holonomic and nonholonomic constraints

Xiaoping Yun, Nilanjan Sarkar

Citations: 102 • 1998

Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints

Alireza Mohammadi, Ehsan Rezapour, Manfredi Maggiore, Kristin Y. Pettersen

Citations: 101 • 2015

Control of two coordinated robots in motion

Yuhan Zheng, J. Luh

Citations: 101 • 1985

Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments

Anton Shiriaev, Leonid B. Freidovich, Anders Robertsson, Rolf Johansson, Anders Sandberg

Citations: 100 • 2007

Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments

Leonid B. Freidovich, Anders Robertsson, Anton Shiriaev, Rolf Johansson

Citations: 97 • 2007

Energy-optimal trajectory planning for robot manipulators with holonomic constraints

John Gregory, Alberto Olivares, Ernesto Staffetti

Citations: 95 • 2012

Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

Zhijun Li, Shuzhi Sam Ge, Martin Adams, W.S. Wijesoma

Citations: 85 • 2008

A unified geometric approach to modeling and control of constrained mechanical systems

Guanfeng Liu, Zexiang Li

Citations: 81 • 2002

A strategy for safe 3D navigation of non-holonomic robots among moving obstacles

Chao Wang, Andrey V. Savkin, Matthew Garratt

Citations: 77 • 2017

Finite-time tracking control of n th-order chained-form non-holonomic systems in the presence of disturbances

Farhad Bayat, Saleh Mobayen, Shamsi Javadi

Citations: 73 • 2016