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Grasping with Flexible Link Fingers: An Initial Study
Sudipto Sur, Robert L. Behnken, Richard M. Murray
1994 Symposium on Robot Control (SYROCO)


A Motion Planner for Nonholonomic Robots
J-P. Laumond, P. E. Jacobs, M. Taix and R. M. Murray
IEEE T. Robotics and Automation, 10: (5) 577-593


Variational Principles in Constrained Systems: Theory and Experiments
Andrew D. Lewis and Richard M. Murray
International Journal of Nonlinear Mechanics, 30(6): 793-815, 1995

CDS Technical Report 94-016

Proportional Derivative (PD) Control on the Euclidean Group
Francesco Bullo and Richard Murray
1995 European Control Conference (Rome)


Experimental Evaluation of Air Injection for Actuation of Rotating Stall in a Low Speed, Axial Fan
Asif Khalak and Richard M. Murray
ASME Turbo Expo '95


An Efficient Algorithm for Performance Analysis of Nonlinear Control Systems
J. E. Tierno, R. M. Murray, J. C. Doyle
1995 American Control Conference


An Experimental Comparison of Controllers for a Vectored Thrust, Ducted Fan Engine
M. Kantner, B. Bodenheimer, P. Bendotti, R. M. Murray
1995 American Control Conference


Control on the Sphere and Reduced Attitude Stabilization
Francesco Bullo, Richard M. Murray, Augusto Sarti
1995 IFAC Symposium on Nonlinear Control Systems Design


Geometric Phases and Robotic Locomotion
Scott D. Kelly and Richard M. Murray
J. Robotic Systems, 12(6):417-431


Nonholonomic Mechanical Systems and Symmetry
A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray
CDS Technical Report 94-013
To appear Archive for Rational Mechanics and Analysis


Geometric Phases, Control Theory, and Robotics
Richard M. Murray
Proceedings of the Board on Mathematical Sciences, Science and Technology Symposium, Washington DC, 12 April 1994


Exponential Stabilization of Driftless Nonlinear Control Systems via Time-varying, Homogeneous Feedback
Robert T. M'Closkey and Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
December 1994


Differential Flatness and Absolute Equivalence of Nonlinear Control Systems
Michiel van Nieuwstadt, Muruhan Rathinam, Richard M. Murray
SIAM J. Control and Optimization, 36(4):1225-1239


Stabilization of Trajectories for Systems with Nonholonomic Constraints
G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J-P. Laumond
IEEE T. Automatic Control, 39: (1) 216-222


Extending Exponential Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers
Robert T. M'Closkey and Richard M. Murray
1994 Symposium on Robot Control (SYROCO)


Exponential Stabilization of Driftless Nonlinear Control Systems
Robert T. M'Closkey
PhD Dissertation, Caltech, Dec 1994


Nonholonomic Mechanics and Locomotion: The Snakeboard Example
Andrew D. Lewis, Richard M. Murray, James P. Ostrowski, Joel W. Burdick
1994 International Conference on Robotics and Automation


Experiments in Exponential Stabilization of a Mobile Robot Towing a Trailer
Robert M'Closkey and Richard M. Murray
1994 American Control Conference


Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems
Richard M. Murray
Proceedings of the 32nd Conference on Decision and Control
December 1993


Nonholonomic Motion Planning: Steering Using Sinusoids
Richard M. Murray and S. Shankar Sastry
IEEE T. Automatic Control, 38(5):700-716


Trajectory generation for the N-trailer problem using Goursat normal form
D. Tilbury, R. M. Murray and S. S. Sastry
IEEE T. Automatic Control, 40: (5) 802-819


Control Primitives for Robot Systems
Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry
IEEE T. Systems, Man, and Cybernetics


A Case Study in Approximate Linearization: The Acrobot Example
Richard M. Murray and John Hauser
ERL Technical Memo, May 1991


Robotic Control and Nonholonomic Motion Planning
Richard M. Murray
PhD Dissertation, UC Berkeley, Dec 1990


Experiments in Planar Manipulation and Grasping
Richard M. Murray
MS Project Report, UC Berkeley, Dec 1988