This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-...

This paper deals with the challenging aspect concerning the state estimation in hydraulic actuators characterized by not negligible nonlinearities. Particularly,. One of the most common hard nonlinearities in hydraulic actuator is the deadzone. More specifically, dead-zone occurs in hydraulic control valves when its spool occludes the orifice with an overlap, so that for a range of spool positi...

Godambe (1960, 1985) and Hansen (1982) proposed the method of estimating function which makes a bridge between least squares estimator and maximum likelihood estimator. In this paper we apply the estimating function approach to CHARN models which include many well-known nonlinear time series models as special cases. The innovation density is permitted to be skew-symmetric. Since the estimation ...

Estimation theory in a nonstationary environment has been very popular in recent years. Existing studies focus on nonstationarity in parametric linear, parametric nonlinear and nonparametric nonlinear models. In this paper, we consider a partially linear model of the form Yt = Xτ t α+g(Vt)+ t, t = 1, · · · , n, where {Vt} is a sequence of β–null recurrent Markov chains, {Xt} is a sequence of ei...

SOC Estimation Gregory L. Plett, consultant to Compact Power Inc., and Assistant Professor, University of Colorado at Colorado Springs Abstract hHEV environment harsh: Rates up to ±25C, very dynamic rate profiles. hVery different from low-rate / constant-rate portable electronics. hSOC estimation must be done differently — if precise SOC estimation is required by the HEV, then a very accurate c...

We consider the problem of estimating the state of a discrete–time dynamic system comprising a linear system equation and a nonlinear measurement equation based on measurements corrupted by non–Gaussian noise. The problem is solved by recursively calculating the complete posterior density of the state given the measurements. For representing the resulting non–Gaussian posterior, a new exponenti...

The model and control of a human forearm is analyzed. In this work, we study the problem of human hand control carrying a mass. The equation of motion and the natural frequency of the forearm for small angular displacement are derived. We develop new methods that use vector fields in the controller construction for a set of nonlinear dynamical systems. The paper deals with compensate of non-lin...