For uncalibrated visual servoing for image-based dynamic control of robot manipulators, acquiring an image Jacobian matrix (interaction matrix) or its inverse matrix is necessary and difficult. In this paper, a new controller of uncalibrated visual sevro using pseudo inverse of image Jacobian matrix is presented, which based on dynamics of robot manipulators. In this method, camera’s intrinsic ...

Invariant methods for formulating and analying the mechanics of the skeleto-muscular system with geometric algebra are further developed and applied to reaching kinematics. This work is set in the context of a neurogeometry research program to develop a coherent mathematical theory of neural sensory-motor control systems.

Many human and animal tasks are thought to be controlled with the t informational variable. It is widely accepted that controlling the rate of change of t (tau) during decelerative tasks, such as when braking or landing, is one common perceptual control strategy. However, many tasks require accelerating before decelerating to a goal, such as reaching. An advancement of t theory shows how a sing...

With extended autonomous capability planetary rovers will be able to carry out more exploration. This paper presents a method of control that provides such autonomy. This controller is based on Inverse Simulation, which considers the path to be taken and the dynamics of the rover. The principle of Inverse Simulation is that the time history for the desired trajectory is used as an input to the ...

High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to...

Humans demonstrate a remarkable ability to generate accurate and appropriate motor behavior under many different and often uncertain environmental conditions. We previously proposed a new modular architecture, the modular selection and identification for control (MOSAIC) model, for motor learning and control based on multiple pairs of forward (predictor) and inverse (controller) models. The arc...

This work presents a method to handle walking on rough terrain using inverse dynamics control and information from a stereo vision system. The ideal trajectories for the center of mass and the next position of the feet are given by a pattern generator. Then, an inverse dynamics control scheme relying on a quadratic programming optimization solver is used to let each foot go from its initial to ...

In this paper we study the dynamics and kinematics of manipulators that have fewer actuators than degrees of freedom. These under{actuated manipulators arise in a number of important applications such as free{ ying space robots, hyper{redundant manipulators, manipulators with structural exibility, etc. In our analysis we decompose such under{actuated manipulators into component active and passi...

In this paper, we describe a parallel solution scheme of inverse dynamics, and its application to flexible manipulators where elastic deformation and vibration normally occur in constituting link members. The scheme is developed by using the Finite Element Method (FEM), which evaluates the analyzed model in absolute Cartesian coordinates, with the equation of motion expressed in dimension of fo...

This study focuses on the role of the motor cortex, the spinal cord and the cerebellum in the dynamics stage of the control of arm movement. Currently, two classes of models have been proposed for the neural control of movements, namely the virtual trajectory control hypothesis and the acquisition of internal models of the motor apparatus hypothesis. In the present study, we expand the virtual ...