Abstract: The problem of rigid-body attitude tracking is examined for the case that there exist actuator faults and angular velocity constraints during the attitude ...

This paper presents a new adaptive attitude tracking controller for rigid body systems, with unknown inertia and unknown gyro-bias, using inertial vector measurements. The proposed control scheme ...

Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives ...

What if chronic diseases, which are difficult to treat with medicine alone, could be managed with electricity? As "neuromodulation"—a technology that restores bodily balance by sending signals ...