The performance of a two stage control design scheme on the control of liquid outpouring and the suppression of liquid sloshing during the outpouring phase of the pouring process is studied for the case of liquid containers carried by manipulators. The designed scheme, that does not require measurements of the liquid’s motion within the tank, combines a partial inverse dynamics controller with ...

We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstra...

The cerebellar model articulation controller (CMAC) (Albus 1975) is applied for learning the inverse dynamics of a simulated two joint, planar arm. The actuators were antagonistic muscles, which acted as feedback controllers for each joint. We use this example to demonstrate some limitations of the control paradigm used in earlier applications of the CMAC (e.g., Miller et al. 1987, 1990): the C...

This paper introduces the concept of hybrid operational space control, a method that unifies kinematic tracking of individual joints with an inverse dynamics task space controller for the remainder of the robot. The proposed control strategy allows for a hierarchical task decomposition while simultaneously regulating the inner forces between the contact points. At the same time it improves fast...

In this article it is shown how tool vibrations of elastic joint robots can be reduced significantly by feedforward control based on inverse dynamics models. The key ideas are (a) to use available algorithms for differential-algebraic equation systems to derive inverse plant models automatically and reliably, (b) to automatically construct the high-order differentiability of the inverse plant m...

Besides the actual state of the condition, the performance of an athlete is highly influenced by the way of executing the movement. So this factor is said to be more and more important. In order to find out and use these potentials, sport science profits from the power of computers for example with modelling and simulating special movements. This article describes the basic functions of a model...

An adaptive control scheme for mechanical manipulators is proposed. The control loop essentially consists of a network for learning the robot’s inverse dynamics and on-line generating the control signal. Some simulation results are provided to evaluate the design. A supervisor is used to improve the performances of the system during the adaptation transients. The supervisor exerts two superviso...

We propose a model-based control framework for multi-arm manipulation of a rigid object subject to external disturbances. The control framework, based on projected inverse dynamics, decomposes the control law into constrained and unconstrained subspaces. Unconstrained components accomplish the motion task with a desired 6-DOF Cartesian impedance behaviour against external disturbances. Meanwhil...

It is proposed that controllers that approximate the inverse dynamics of the controlled plant can be used for on-line compensation or changcM in (.he plant's dYflarni(�s. The idea is (,0 lise (,lIe vcr,V Marne controller in two modes at the same time: both for static and dynamic feedback. Implications for the learnin� of neurocontrollers are discussed. The proposed control mode relaxes the dema...

The boundary feedforward control problem for a class of distributedparameter port-Hamiltonian systems in one spatial dimension is addressed. The considered hyperbolic systems of two conservation laws (with dissipation) are discretized in the spatial coordinate using an energy-based, structure preserving discretization scheme. The resulting finite-dimensional approximate state representation has...