quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

We present a new framework for prioritized multi-task motion/force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they do not find the optimal solution for the secondary tasks. Other frameworks are optimal, but they tackle the control problem at kinematic level, hence they ne...

W e present a motion planning/control system that deals with moving obstacles whose trajectories are not known a priori. A n artificial potential field planner i s tightly coupled with a robust inverse dynamic controller, allowing the robot t o avoid obstacles in realtime while retaining the benefits of inverse dynamic control. Our implementation of the artificial potential field planner uses d...

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...

Learning in real-time applications, e.g., online approximation of the inverse dynamics model for model-based robot control, requires fast online regression techniques. Inspired by local learning, we propose a method to speed up standard Gaussian process regression (GPR) with local GP models (LGP). The training data is partitioned in local regions, for each an individual GP model is trained. The...

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 ...

This paper is concerned with the pouring control of tilting-ladle-type automatic pouring systems in casting industries. A new approach to the modeling and control system of the pouring process is proposed. In the approach, the flow rate model is described by a nonlinear system with hydrodynamics. The flow rate control system is built by a feedfoward control using the inverse dynamics of the flo...

This paper presents an integrated fuzzy approach to recover the performance in impedance control, reducing the errors in position and force, considering uncertainties in the parameters of the manipulator model and contact surface model. This integrated strategy considers a fuzzy adaptive compensator in the outer control loop that adjusts the manipulator tip position to compensate for uncertaint...