Tootfinder

Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems
Mirko Mizzoni, Amr Afifi, Antonio Franchi
https://arxiv.org/abs/2403.03117

Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems
In this letter, we address the problem of re-targeting a commercial under-actuated robotic system to a higher dimensional output task. Commercial platforms are equipped with an on-board low-level internal controller that provides the user some virtual references inputs and cannot be replaced. Such controller may control in practice only a subset of the total degrees-of-freedom of the system. Our primary objective is to augment these systems by introducing supplementary inputs, attaining increas…

Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems
Mirko Mizzoni, Amr Afifi, Antonio Franchi
https://arxiv.org/abs/2403.03117

Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems
In this letter, we address the problem of re-targeting a commercial under-actuated robotic system to a higher dimensional output task. Commercial platforms are equipped with an on-board low-level internal controller that provides the user some virtual references inputs and cannot be replaced. Such controller may control in practice only a subset of the total degrees-of-freedom of the system. Our primary objective is to augment these systems by introducing supplementary inputs, attaining increas…

This https://arxiv.org/abs/2306.07258 has been replaced.
link: https://scholar.google.com/scholar?q=a

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? Not only we show that the answer to this question is yes, but we also provide necessary and sufficient conditions. More specifically, we look for a representation of the configuration …