Related papers: Trajectory tracing in figure skating
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
A semi-Lagrangian Characteristic Mapping method for the solution of the tracer transport equations on the sphere is presented. The method solves for the solution operator of the equations by approximating the inverse of the diffeomorphism…
Nonsmooth phenomena, such as abrupt changes, impacts, and switching behaviors, frequently arise in real-world systems and present significant challenges for traditional optimal control methods, which typically assume smoothness and…
Scattering can rapidly degrade our ability to form an optical image, to the point where only speckle-like patterns can be measured. Truly non-invasive imaging through a strongly scattering obstacle is difficult, and usually reliant on a…
Motivated by recent experiments on objects moved vertically through a bed a glass beads, a simple model to study granular drag is proposed. The model consists of dimers on a slanted two-dimensional lattice through which objects are dragged…
Multibody systems usually give rise to complex nonlinear dynamics, and the bicycle is not an exception. Even a simple model as the Two-Mass-Skate presents a long expression of the kinetic energy, making difficult to write explicitly the…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
We numerically study trajectories of spiral-wave-cores in excitable systems modulated proportionally to the integral of the activity on the straight line, several or dozens of equi-spaced measuring points on the straight line, the…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based control theory. Our proposed controller renders a desired…
Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to…
Researchers have developed hybrid Van der Pol Rayleigh Duffing type oscillators to model human induced forces; however, their analytical framework has largely relied on the Lindstedt Poincare perturbation method, energy balance approaches,…
This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…
A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…
The task of determining the origin of a drifting object after it has been located is highly complex due to the uncertainties in drift properties and environmental forcing (wind, waves and surface currents). Usually the origin is inferred by…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…