Related papers: Trajectory tracing in figure skating
We investigate the behavior of dynamical systems with nonholonomic constraints when coupled to a thermal bath, focusing on the paradigmatic case of the Chaplygin sleigh. A straightforward Langevin-type approach obtained by naively adding…
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
In this paper we consider cases of existence of invariant measure, additional first integrals, and Poisson structure in a problem of rigid body's rolling without sliding on plane and sphere. The problem of rigid body's motion on plane was…
This paper studies optimal trajectory-tracking for driftless, x-flat nonlinear systems with three states and two inputs. The tracking problem is formulated in Bolza form with a quadratic cost of the tracking error and its derivative.…
Trajectory reconstruction is the process of inferring the path of a moving object between successive observations. In this paper, we propose a smoothing spline -- which we name the V-spline -- that incorporates position and velocity…
We present the chiral knife edge rattleback, an alternative version of previously presented systems that exhibit spin inversion. We offer a full treatment of the model using qualitative arguments, analytical solutions as well as numerical…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
In this paper, a model is presented to extract statistical summaries to characterize the repetition of a cyclic body action, for instance a gym exercise, for the purpose of checking the compliance of the observed action to a template one…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
A self-similar motion of the generalized Chaplygin gas in its own gravitational field is considered. The problem is being studied numerically and analytically (in the limiting cases). It is shown that the model under consideration admits…
Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled…
This study suggests a novel tracking method that employs three Pixy2 sensors to identify the desired line trajectories instead of traditional perceiving means. Firstly, the kinematic model of the mobile robot is derived from the information…
This paper proposes a novel control approach composed of sinusoidal reference trajectories and trajectory tracking controller for the second-order chained form system. The system is well-known as a canonical form for a class of second-order…
Trajectories are fundamental in different skiing disciplines. Tools enabling the analysis of such curves can enhance the training activity and enrich the broadcasting contents. However, the solutions currently available are based on…
Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
The problem of a disc or cylinder initially rolling with slipping on a surface and subsequently transitioning to rolling without slipping is often cited in textbooks. The following experiment serves to clearly demonstrate the transition…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
This paper is concerned with a class of time-optimal control problems for the swing and the ski. We first consider the motion of a man standing on a swing. For simplicity, we neglect friction and air resistance and assume that the mass of…