This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...

A descriptive study of the biomechanical variables of the walking patterns of the fit and healtky elderly compared with those of young adults revealed several signzficant dzfferences. The walking patterns of 15 elderly subjects, selected for their active life style and screened for any gaitor balance-related pathological conditions, were analyzed. Kinematic and kinetic data for a minimum of 10 ...

We have developed a mechanical talking robot, Waseda Talker No. 7 Refined II, to study the human speech mechanism. The conventional control method for this robot is based on a concatenation rule of the phoneme-specific articulatory configurations. With this method, the speech mechanism of the robot is much slower than is required for human speech, because the robot requires momentary movement o...

In this paper, we present an algorithm for planning and control of legged robot locomotion. Given the desired contact sequence, this method generates gaits and dynamic motions for legged robots without resorting to simplified stability criteria. The method uses direct collocation for searching for solutions within the constraint-consistent subspace defined by the robot’s contact configuration. ...

This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In o...

Abstract: If the system semigroup of a control system is a group, the system has the partition property, i.e., the reachable sets form a disjoint partition in the state space. The converse is not true in general. In this work we give sufficient conditions for the partition property for a family of discrete-time control systems on homogeneous spaces. We apply our results to Inverse Iteration sys...

The PID trajectory tracking controller for Lagrangian systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point cannot be defined for the control system involving performance limitation, we define newly the quasiequilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide ...