Publications

Feedback Control for Collision-Free Nonholonomic Vehicle Navigation on SE (2) With Null Space Circumvention

In this article, we present a novel feedback controller for the collision-free navigation of a class of nonholonomic vehicles based on …
DOI

Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance

Design of feedback control for underactuated robotic systems (URSs) is often complex and nonintuitive due to the inherent incapability …
DOI

Operational Space Control for Planar $PA^{N-1}$ Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator ($PA^{N-1}$) with a …
DOI

A Novel Strategy for Stabilization Control of a Planar Three-Link Underactuated Manipulator with a Passive First Joint

In this paper, we present a novel control strategy for the stabilization of a planar three-link underactuated manipulator with a …
DOI

Null-space-avoidance-based orientation control framework for underactuated, tail-inspired robotic systems in flight phase

In this letter, we propose a unified framework to address underactuated orientation control problems of the tailed robot in flight …
DOI

A compliant robotic instrument with coupled tendon driven articulated wrist control for organ retraction

Organ retraction is a common and important task in minimally invasive surgery. It is a surgical technique to push aside or manipulate …
DOI