This paper gives a global dynamic analysis of a two wheeled riding simulator that we have built and instrumented for the study of drivers behavior. These studies concern drive situations in normal urban scenario as well as dangerous driving situations such as skidding. The justification of the choice of the platform movements for a good feeling is discussed. Different models for inverse kinemat...

The limited adaptivity of current robots is preventing their widespread application. However, nowadays there are mature techniques available to palliate this deficiency. After briefly surveying the several levels of adaptivity required and the disciplines addressing each of them, the paper concentrates on the contributions of the field of Neural Networks to improve sensorimotor adaptivity. Sinc...

This work proposes to approach Global Chassis Control (GCC) by means of model inversion based feedforward with allocation directly on the actuator commands. The available degrees of freedom are used to execute the desired vehicle motion while minimizing the utilization of the tyre’s grip potential. This is done by sampled constrained least-squares optimization of the linearized problem. For com...

Human motion tracking is a powerful tool used in a large range of applications that require human movement analysis. Although it is a well-established technique, its main limitation is the lack of estimation of real-time kinetics information such as forces and torques during the motion capture. In this paper, we present a novel approach for a human soft wearable force tracking for the simultane...

This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with different priorities for motion, torque, and force optimization. Using projected dynamics of floating base systems with multiple contact points, t...

Learning in real-time applications, e.g., online approximation of the inverse dynamics model for model-based robot control, requires fast online regression techniques. Inspired by local learning, we propose a method to speed up standard Gaussian process regression (GPR) with local GP models (LGP). The training data is partitioned in local regions, for each an individual GP model is trained. The...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

In October 2012, the humanoid robot HRP-2 was presented during a live demonstration performing fine-balanced dance movements with a human performer in front of more than 1000 people. This success was possible by the systematic use of operational-space inverse dynamics to compute dynamically consistent movements following a motion capture pattern demonstrated by a human choreographer. The first ...

Matrix relations in kinematics and dynamics of the Star parallel manipulator are established in this paper. The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, v...

Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems this paper studies kinematics and dynamics of the trajectory planning scheme. The experiment confirm the non-linear and chaotic ...