In this paper, we propose different models for estimating foot placement in biped locomotion. We use either learning approach or optimization approach to obtain such models. We evaluate these models in terms of robustness and complexity. Our results show that these models are more flexible than Inverted Pendulum Model and they provide more agility for biped locomotion under different walking sp...

We report a new case of inverted papilloma of the ureter, with an uncommon clinic manifestation as a obstructive uropathy. In spite of the bening nature the inverted papilloma of the urinary tract, it can be multifocal and relapsing and it may be associated with low rate urothelial carcinomas. A precise pre-operative diagnosis is necessary for a conservative or endourologic treatment. The follo...

This paper presents a neural network approach to controlling nonlinear system. Trial-and-error correlation learning, which is a generally useful method for optimizing parameters, is applied to training a neural controller to balance an inverted pendulum. The controller is simplified by automatically pruning the hidden neurons to only two. Computer simulation shows that the trained neural contro...

This paper considers fundamental constraints that exist in the control of an inverted pendulum system. The inverted pendulum system is a single input two output (SITO) system which has an unstable pole. The limitations that are developed use several diierent techniques to show the diiculties in the control of this system. The analysis has applications in the control of SITO systems that have un...

This two-part paper discusses the analysis and control of legged locomotion in terms of N -step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. Part 1 introduces a theoretical framework for assessing N -step cap...

In order to guarantee real time, a simple control method is presented to stabilize the fast-moving systeminverted pendulum. The method was obtained by mathematical derivation based on the dynamical model of the inverted pendulum system, but the control strategy is independent of the model. It is applicable for controlling other multi input single output plants besides inverted pendulum. A contr...

This paper describes the method for trajectory tracking and balancing the Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). A robust LQR controller for stabilizing the SESIP is proposed in this paper. The first part of the controller is a Position Velocity (PV) controller to swing up the pendulum from its hanging position by moving the pendulum left and righ...

Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC) was applied to evaluate the performance of the MPC controller and tune its parameters. The ...

Inverted repeats have been found to occur in both prokaryotic and eukaryotic genomes. Usually they are short and some have important functions in various biological processes. However, long inverted repeats are rare and can cause genome instability. Analyses of C. elegans genome identified long, nearly-perfect inverted repeat sequences involving both divergently and convergently oriented homolo...

This paper considers the trajectory tracking control of linear inverted pendulum (IP) system. First the linearized model of IP is derived to facilitate the control design. To avoid non robust reaching phase, integral sliding mode control (ISMC) has been proposed but single variable case is tested. Linear IP is a multivariable system having angle of pendulum and position of cart are two variable...