Douglas R. Isenberg

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This paper examines the technique of partial feedback linearization for the positional control of the joints of a humanoid robot. The unique dynamical model of the humanoid robot is first presented. The dynamics have an Euler-Lagrange form but also contain mixedcontinuous/discrete forces that arise due to contact constraints. The mixed-continuous/discrete(More)
This paper describes a procedure for obtaining the dynamical model of a space robot in a form that is useful for simulation. The differential equations of motion of the space robot are derived using a constrained Lagrangian approach to mechanics. Quaternions are utilized to model rotation which gives rise to generalized forces that are in the direction of(More)
This paper presents both a quaternion based computed-torque trajectory tracking controller and a feed-forward trajectory tracking controller for a two-link space robot. First, the general form of the dynamical equations for a space robot modeled with quaternions is presented. The computed-torque controller is then presented and the stability of the(More)
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