Abstract: This letter proposes an algorithm for solving finite-time nonlinear optimal control problems. The proposed method employs the Gauss pseudospectral method to transform the optimal control ...

The movement capability of humanoid robots starts at the joints. Harmonic joint modules are the core enabler of agile motion.

Abstract: In vehicle motion control, handling, stability, and anti-slip performance are critical for vehicle safety and driver experience. Most existing studies address these requirements using ...