A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...

In this study, a novel control algorithm, based on a P300-based brain-computer interface (BCI) is fully developed to control a 2-DoF robotic arm. Eight subjects including 5 men and 3 women perform a 2-dimensional target tracking in a simulated environment. Their EEG (Electroencephalography) signals from visual cortex are recorded and P300 components are extracted and evaluated to perform a real...

This paper deals with leader-following and leaderless consensus problems of high-order multi-input/multi-output (MIMO) multi-agent systems with unknown nonlinear dynamics in the presence of uncertain external disturbances. The agents may have different dynamics and communicate together under a directed graph. A distributed adaptive method is designed for both cases. The structures of the contro...

Once upon real-time A dynamic object is an object whose properties change over time. A static object is an object whose properties do not change over time. Given such an idealization, the notion of ‘static’ lies at an extreme end of the spectrum of temporal relations between objects and properties. Indeed, modern physics tells us that no objects are truly static. Nevertheless, many of our physi...

The expression gestural mapping is well imbedded in the language of instrument designers, describing the function from interface control parameters to synthesis control parameters. This function is in most cases implicitly assumed to be instantaneous, so that at any time its output depends only on its input at that time. Here more general functions are considered, in which the output depends on...

In this paper we introduce a novel approach to continual planning and control, called Dynamics Based Control (DBC). The approach is similar in spirit to the Actor-Critic [6] approach to learning and estimation-based differential regulators of classical control theory [13]. However, DBC is not a learning algorithm, nor can it be subsumed within models of standard control theory. We provide a gen...

This document deals with the controlled system of lateral vehicle dynamics regulated in terms of a reference model outputs. The reference model means a simplified mathematical vehicle model, which describes the desired lateral movements of a vehicle. The output of the reference model produces the most optimal trajectory in various driving conditions. The target of the control strategy is to hol...

This paper discusses the advantages and disavantages of kinematics and dynamics in motion control for animating three-dimensional characters. It presents a motion control system based on dynamics. Applications of such a system are especially in the area of walking and grasping. It is shown that a simulation of writing a letter is a typical dynamic process. For the animation of the hand itself, ...