Eleftherios Papadopoulos

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Animals are capable of breathtaking dynamic rough terrain mobility – far superior to that of any existing wheeled, tracked or legged robot. Our research aims to endow our legged robots with increasingly capable dynamic abilities. In this paper, we are presenting a controller that expands the rough terrain abilities of our four-legged robot, Scout II, to(More)
This paper addresses the control and aspects of modeling for Scout II, an autonomous four-legged robot with only one actuator per compliant leg. The running controller requires minimal task level feedback, yet achieves reliable, efficient and fast running up to 1.2 m/s apparently complex dynamically dexterous tasks may be controlled via simple control laws.(More)
|Space manipulators mounted on an on-o thrustercontrolled base are envisioned to assist in the assembly and maintenance of space structures. When handling large payloads, manipulator joint and link exibility become important, for it can result in payload-attitude controller fuel-replenishing dynamic interactions. The dynamics of these systems is rather(More)
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