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  1. No Access

    Article

    Task-level approaches for the control of constrained multibody systems

    This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is r...

    Vincent De Sapio, Oussama Khatib, Scott Delp in Multibody System Dynamics (2006)

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    Article

    Least action principles and their application to constrained and task-level problems in robotics and biomechanics

    Least action principles provide an insightful starting point from which problems involving constraints and task-level objectives can be addressed. In this paper, the principle of least action is first treated wi...

    Vincent De Sapio, Oussama Khatib, Scott Delp in Multibody System Dynamics (2008)

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    Article

    A Depth Space Approach for Evaluating Distance to Objects

    We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, e.g., for...

    Fabrizio Flacco, Torsten Kroeger… in Journal of Intelligent & Robotic Systems (2015)