We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n ≥ 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive system of PDEs which governs energy shapability, and thus deduce, for the first time, easily verifiable conditions under which energy shaping is guaranteed. We illust...

This letter proposes a new reinforcement learning (RL) paradigm that explicitly takes into account input disturbance as well as modeling errors. The use of environmental models in RL is quite popular for both offline learning using simulations and for online action planning. However, the difference between the model and the real environment can lead to unpredictable, and often unwanted, results...

This study aims to develop a controller for use in the online simulation of two interacting characters. This controller is capable of generalizing two sets of interaction motions of the two characters based on the relationships between the characters. The controller can exhibit similar motions to a captured human motion while reacting in a natural way to the opponent character in real time. To ...

This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

This article gives a practical overview of the popular biomechanically inspired, computationally efficient, algorithmically straightforward inverted pendulum technique for character-based systems. We explain the different flavours of inverted pendulum (e.g., springloaded and gravity compensated inverted pendulum), their viability for different situations (e.g., walking, running), simulation res...

An inverted pendulum fitted on the moving cart (IPMC) represents a class of nonlinear system and is inherently unstable. Stabilizing such nonlinear systems is still a challenging objective for control engineers. It is very difficult to keep the pendulum always in upright position as it is highly sensitive to even a small disturbance and tend to fall down. Hence, the objective of the control mec...