This paper presents an interactive hierarchical motion control system dedicated to the animation of human figure locomotion in virtual environments. As observed in gait experiments, controlling the trajectories of the feet during gait is a precise end-point control task. Inverse kinematics with optimal approaches are used to control the complex relationships between the motion of the body and t...

The speed, accuracy, and adaptability of human movement depends on the brain performing an inverse kinematics transformation*i.e., a transformation from visual to joint angle coordinates*based on learning from experience. In human visually guided motion control, it is important to learn a feedback controller for the hand position error. This paper proposes two novel models that learn coordinate...

The performance of a two stage control design scheme on the control of liquid outpouring and the suppression of liquid sloshing during the outpouring phase of the pouring process is studied for the case of liquid containers carried by manipulators. The designed scheme, that does not require measurements of the liquid’s motion within the tank, combines a partial inverse dynamics controller with ...

Abstract We perform a microscopic evaluation of nuclear generalized parton distributions (GPDs) for spin-0 nuclei in the framework of the Walecka model. We demonstrate that the meson (non-nucleon) degrees of freedom dramatically influence nuclear GPDs, which is revealed in the non-trivial and unexpected A-dependence of Deeply Virtual Compton Scattering (DVCS) observables. In particular, we find...

In recent years there has been a significant increase in the number of control system techniques that are based on nonlinear concepts. One such method is the nonlinear inverse-model based control strategy. This method is however highly dependent on the availability of the inverse of the system model under control, which are normally difficult to obtain analytically for nonlinear systems. Since ...

This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot’s geometry in particular, we introduce a new formalism “projective kinematics”. As a result, motions in jointand image-space can be related without metric calibration, and a corresponding visual control la...

Currently, the speed at which materials can be transferred between ships at sea is limited by sea conditions. Rough sea conditions cause the payload to swing making load transfer difficult and timeconsuming. The objective of this research is to develop a real-time, command compensating control for reducing sea state induced payload swing for shipboard robotic cranes. The future use of this cont...

We propose a model-based control framework for multi-arm manipulation of a rigid object subject to external disturbances. The control framework, based on projected inverse dynamics, decomposes the control law into constrained and unconstrained subspaces. Unconstrained components accomplish the motion task with a desired 6-DOF Cartesian impedance behaviour against external disturbances. Meanwhil...

On the basis of inverse dynamics controller as a nominal control portion, two types of novel robust adaptive inverse dynamics control schemes are proposed for the trajectory tracking control of robot manipulator with uncertain dynamics. They are composed of an adaptive fuzzy control algorithm and a nonlinear H∞ tracking control model. The adaptive fuzzy control algorithm is employed to approxim...

A common t.echnique in neurocontrol is that. of controlling a plant by static state feedback using the plant's inverse dynamics , which is approximated t.hrough a learning proce:flfl. It is ,"vdl knu\vn that in t.his control mode: e:ve:n small approximation errors or, which is the same, small perturbations of the plant may lead to insta­ bility. Here, a novel approach is proposed to overcome th...