This paper deals with the development of guidance, navigation and control algorithms for a prototype of a miniature aerial delivery system capable of high-precision maneuvering and high touchdown accuracy. High accuracy enables use in precision troop resupply, sensor placement, urban warfare reconnaissance, and other similar operations. Specifically, this paper addresses the terminal phase, whe...

Learning an inverse kinematic model of a robot is a well studied subject. However, achieving this without information about the geometric characteristics of the robot is less investigated. In this work, a novel control approach is presented based on a recurrent neural network. Without any prior knowledge about the robot, this control strategy learns to control the iCub’s robot arm online by sol...

Robot control has provided fodder for control theorists, practitioners and educators for decades. Numerous textbooks have been written to teach the basic tools. Most introductory material assumes that a robot may be modeled as a set of rigid links, interconnected by simple revolute and prismatic joints whose actuators allow the control system to command desired torques. These and other simpli"c...

Dynamic inverse- (DI-) based control technique has been utilized in many applications and proven to be effective. Recently, the inverse dynamic (IDC), an expansion classical DI technique, trending with implementation areas. It proved that IDC is capable of overcoming some limitations DI-based techniques, particularly cancellation useful nonlinearities. This paper extends on positional speed lin...

This paper investigated the ability of a hybrid time-delayed artificial neural network (TDANN)/autoregressive TDANN (AR-TDANN) to predict clenching movements during mastication from surface electromyography (SEMG) signals. Actual jaw motions and SEMG signals from the masticatory muscles were recorded and used as output and input, respectively. Three separate TDANNs/AR-TDANNs were used to predic...

In this paper, we address the problem of visually guiding and controlling a robot in projective three-space using stereo vision. As the proposed method is entirely formulated in projective space, metric models of the system have become obsolete and ”easy-to-find” projective models of both, the stereo geometry and the robot’s “projective kinematics”, may be used. More precisely, a given task is ...