The control of centroidal momentum has recently emerged as an important component of whole-body humanoid control, resulting in emergent upper-body motions and increased robustness to pushes when included in whole-body frameworks. Previous work has developed specialized computational algorithms for the Centroidal Momentum Matrix (CMM) and its derivative, which relate rates of change in centroida...

Hydrogels are promising candidates for recapitulation of the native extracellular matrix (ECM), yet recreating molecular and spatiotemporal complexity within a single network remains challenge. Double (DN) hydrogels step towards recapitulating multicomponent ECM have enhanced mechanical properties. Here, we investigate DNs based on dynamic covalent bonds to mimic dynamicity enable biofabricatio...

This paper presents a number of state feedback controller design methods for fuzzy dynamic systems with H optimization and/or additional constraints on the closed-loop pole location. The controller design involves solving a set of linear matrix inequalities and the control laws are numerically tractable via LMI techniques. The global stability of the closedloop fuzzy control system is also esta...

Abstract— This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H ∞ continuous time control method, a state feedback controller is designed to control the translatio...