In this paper the application of robust control to a 5-link biped robotic model is investigated
through the sliding mode approach, and compared to pure computed torque control. The …

This paper describes the development and experimental evaluation of an e-laboratory
platform in the field of robotics. The system in its current configuration is designed to enable …

This paper proposes the application of an adaptive impedance control scheme to alleviate
some of the problems associated with the presence of time delays in a haptic teleoperation …

… To this end, the following minimal set of audio–gestural commands was defined: { w a s h –
b a c k , w a s h – l e g s , s c r u b – b a c k , s c r u b – l e g s , r i n s e – b a c k , r i n s e – l e g …

Mapping dynamic environments is an open issue in the field of robotics. In this paper, we
extend the well known Occupancy Grid structure to address the problem of generating valid …

… Tzafestas (M’99) received the electrical and computer engineering degree from the National
Technical University of Athens (NTUA), Athens, Greece, in 1993 and the DEA and Ph.D. …

This paper studies the problem of motion and control law design for a mobile robot that
moves inside a partially unknown environment with stationary obstacles and moving objects, …

Online model-free reinforcement learning (RL) methods with continuous actions are playing
a prominent role when dealing with real-world applications such as Robotics. However, …

This paper provides a comparative study, through simulation, of the effectiveness of the local
(decoupled) PD control, the computed torque control, and the sliding mode robust control …

… Using again the Lagrange dynamic model, the motion equations, during the kick phase,
take a form similar to (2) (the matrices D, C, G are similar to the corresponding matrices of the …