The In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking control in highly complex, nonlinear, multi-arm manipulator systems. The feedback gain tuning is studie...

robot en tareas de seguimiento.

An overwhelming controller provides robustness against uncertain parameters, disturbances and un-modelled dynamics. A simplified inverse dynamics model is used in this article to develop an overwhelming controller for a parallel manipulator (a Stewart platform), where the controller accommodates the modelling uncertainties such as the simplifications made for development of the inverse model in...

We consider the inverse dynamics problem for robot arms with, flezible lids, i.e., the computation of the input torque that allows exact tracking of a trajec tor~y definedfor the manipulator end-e flector. A stable inversion controller is derived numerically, based on the computation of bounded link deformations and, from these, of the? equiredfe edforwardtorque associated with, the desired tip...

Numerical optimal control (the approximation of an optimal trajectory using numerical iterative algorithms) is a promising approach to compute the control of complex dynamical systems whose instantaneous linearization is not meaningful. Aside from the problems of computation cost, these methods raise several conceptual problems, like stability, robustness, or simply understanding of the nature ...

In certain cases analytical derivation of physicsbased models of robots is difficult or even impossible. A potential workaround is the approximation of robot models from sensor data-streams employing machine learning approaches. In this paper, the inverse dynamics models are learned by employing a learning algorithm, introduced in [1], which is based on reservoir computing in conjunction with s...

For the carrying lower extreme exoskeleton system is non-linear and have variable parameters, which is usually subject to external dusturbances. The virtual torque control method is a well-established carrying system control technique, which needs no sensors between the pilot and the human-machine interface, instead, the controller estimates, based on measurements from the exoskeleton suits onl...

Impedance control is a well-established framework to manage the interaction of the end effector of a robot manipulator with the environment. For the execution of six-degree-offreedom (DOF) tasks, both the end-effector position and orientation must be handled. The operational space control schemes typically utilize minimal representations of end-effector orientation; however, such representation...

In quadratic program based inverse dynamics control of underactuated, free-floating robots, the desired Cartesian reference motion is typically computed from a planned Cartesian reference motion using a feed-forward term, originating from a model, and a PD controller. The PD controller is there to account for the discrepancy between the real robot and the model. In this paper we show how we can...

Virtual characters playing virtual musical instruments in a realistic way need to interact in real-time with the simulated sounding environment. Dynamic simulation is a promising approach to finely represent and modulate this interaction. Moreover, capturing human motion provides a database covering a large variety of gestures with different levels of expressivity. We propose in this paper a ne...