Dexterous manipulation with a highly redundant movement system is one of the hallmarks of
human motor skills. From numerous behavioral studies, there is strong evidence that …

This article reviews the literature concerning the balancing of rotors including the origins of
various balancing techniques including ones that use influence coefficient, modal, unified …

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We introduce the Riemannian Motion Policy (RMP), a new mathematical object for modular
motion generation. An RMP is a second-order dynamical system (acceleration field or …

In this paper, we develop a cooperative control algorithm for a group of multirotor unmanned
aerial vehicles (UAVs) transporting a suspended payload of unknown mass. In addition, the …

Despite the availability of ever more data enabled through modern sensor and computer
technology, it still remains an open problem to learn dynamical systems in a sample-efficient …

A sliding mode controller is proposed for the attitude control of spacecraft reorientation with
attitude constraints. By introducing a potential function, a novel sliding function is designed …

ABSTRACT A trajectory generation strategy that facilitates the coordination of multiple
unmanned air vehicles is developed. Of particular interest is the planning of threat-avoiding …

We develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent
transformations of Riemannian Motion Policies (RMPs). RMPs are a class of reactive motion …

We formulate control problems of mechanical systems as constraint following. The system
contains uncertainty which is (possibly fast) time-varying. It is unknown but bounded. The …