Progress ha.s been made in comput.ational implementation of speech production based on physiological dat.a. An inverse dynamics model of the speech articulator's l1111sculo-skeletal system. which is the mapping from art.iculator t.rajectories to e\ectromyogl'aphic (EMG) signals, was modeled using the acquired forward dynamics model and temporal (smoot.hness of EMG activation) and range constrai...

On the basis of inverse dynamics controller as a nominal control portion, two types of novel robust adaptive inverse dynamics control schemes are proposed for the trajectory tracking control of robot manipulator with uncertain dynamics. They are composed of an adaptive fuzzy control algorithm and a nonlinear H∞ tracking control model. The adaptive fuzzy control algorithm is employed to approxim...

A common t.echnique in neurocontrol is that. of controlling a plant by static state feedback using the plant's inverse dynamics , which is approximated t.hrough a learning proce:flfl. It is ,"vdl knu\vn that in t.his control mode: e:ve:n small approximation errors or, which is the same, small perturbations of the plant may lead to insta­ bility. Here, a novel approach is proposed to overcome th...

5.1 ROOT MOTION .....................................................................................................................................................4 5.2 KINEMATIC CONSTRAINTS....................................................................................................................................5 5.3 MOTION CYCLIFICATION .................................................

Precise models of the robot inverse dynamics allow the design of significantly more accurate, energy-efficient and more compliant robot control. However, in some cases the accuracy of rigidbody models does not suffice for sound control performance due to unmodeled nonlinearities arising from hydraulic cable dynamics, complex friction or actuator dynamics. In such cases, estimating the inverse d...

A simulational model of 6 dof Stewart platform type parallel manipulator is presented. The manipulator is driven by electrohydraulic actuators. A novel invariant error dynamics controller is used. The developed control scheme employs the dynamic and hydraulic model of the system. The manipulator model consists of the rigid body equations of motion and the hydraulic dynamics of the main elements...