Guilherme V. Raffo

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— The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Autonomous Robots subgroup is tasked with developing ontology modules for autonomous robots. This paper describes the work in progress on the(More)
This paper presents a nonlinear H ∞ control law for underactuated mechanical systems with input coupling. Apart from the controlled degrees of freedom (DOF), the proposed controller considers the dynamics of the remaining DOF in the cost variable, which allows to stabilize them. The underactuated mechanical system is normalized to obtain a diagonal inertia(More)