相关论文: Optimal strategies for kiiking: active pumping to …

Skateboarders perform a reciprocating motion on a curved ramp, called pumping, by moving their bodies up and down perpendicular to the ramp's surface. We propose a simple mechanical model for this pumping motion and solve the equation of…

Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…

Airborne Wind Energy is a lightweight technology that allows power extraction from the wind using airborne devices such as kites and gliders, where the airfoil orientation can be dynamically controlled in order to maximize performance. The…

This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…

Efficient and long-lived field-free molecular orientation is achieved using only two kicks appropriately delayed in time. The understanding of the mechanism rests upon a molecular target state providing the best efficiency versus…

The efficient way to transfer input potential energy to the kinetic energy of a racket or bat was analyzed by two coupled harmonic triple pendulums. We find the most efficient way to transfer energy based on the kinetic chain process. Using…

The mastery of skills such as playing tennis or balancing an inverted pendulum implies a very accurate control of movements to achieve the task goals. Traditional accounts of skilled action control that focus on either routinization or…

Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…

Navigation up a sensory gradient is one of the simplest behaviours, and the simplest strategy is run and tumble. But some organisms use other strategies, such as reversing direction or turning by some angle. Here we ask what drives the…

In the field of robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields to achieve reliable control in diverse tasks. In order to…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

Bird migration is an adaptive behavior ultimately aiming at optimizing survival and reproductive success. We propose an optimal switching model to study bird migration, where birds' migration behaviors can be efficiently modeled as…

In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…

An energy based approach for stabilizing a mechanical system has offered a simple yet powerful control scheme. However, since it does not impose such strong constraints on parameter space of the controller, finding appropriate parameter…

Pumping airborne wind energy (AWE) systems employ a kite to convert wind energy into electricity, through a cyclic reeling motion of the tether. The problem of computing the optimal reeling speed for the sake of maximizing the average cycle…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

The generation and storage of spin squeezing is an attracting topic in quantum metrology and the foundations of quantum mechanics. The major models to realize the spin squeezing are the one- and two-axis twisting models. Here, we consider a…

The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…

Optimal control problems are formulated and efficient computational procedures are proposed for attitude dynamics of a rigid body with symmetry. The rigid body is assumed to act under a gravitational potential and under a structured control…

Empowerment quantifies the influence an agent has on its environment. This is formally achieved by the maximum of the expected KL-divergence between the distribution of the successor state conditioned on a specific action and a distribution…