相关论文: Coupled Chaotic Oscillators and Its Relation with …

Phase-coupled oscillators serve as paradigmatic models of networks of weakly interacting oscillatory units in physics and biology. The order parameter which quantifies synchronization was so far found to be chaotic only in systems with…

The behaviors of coupled chaotic oscillators before complete synchronization were investigated. We report three phenomena: (1) The emergence of long-time residence of trajectories besides one of the saddle foci; (2) The tendency that orbits…

This paper discusses applications of a particular control technique that can be used to very efficiently stabilize a chaotic system onto a large subset of the unstable periodic orbits that are typically embedded in the system. The control…

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…

The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems…

It has been shown that max-plus linear systems are well suited for applications in synchronization and scheduling, such as the generation of train timetables, manufacturing, or traffic. In this paper we show that the same is true for…

We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feedback of the ground reaction force, which can be interpreted…

Learning multiple gaits is non-trivial for legged robots, especially when encountering different terrains and velocity commands. In this work, we present an end-to-end training framework for learning multiple gaits for quadruped robots,…

Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular, while low-level motion tracking and trajectory-following…

Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…

Quadruped robots face persistent challenges in achieving versatile locomotion due to limitations in reference motion data diversity. To address these challenges, we introduce an in-between motion generation based multi-style quadruped robot…

Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…

Decentralized heading control is crucial for robotic network operations such as surveillance, exploration, and cooperative construction. However, few results consider decentralized heading control when the speed of heading adjustment is…

There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait…

This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…

This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…

The bifurcation and chaotic behaviour of unidirectionally coupled deterministic ratchets is studied as a function of the driving force amplitude ($a$) and frequency ($\omega$). A classification of the various types of bifurcations likely to…

The synchronization of coupled chaotic systems represents a fundamental example of self organization and collective behavior. This well-studied phenomenon is classically characterized in terms of macroscopic parameters, such as Lyapunov…

Synchronisation between coupled oscillatory systems is a common phenomenon in many natural as well as technical systems. Varying the strength of coupling often leads to qualitative changes in the complex dynamics of the mutually coupled…

Dynamics of coupled chaotic oscillators on a network are studied using coupled maps. Within a broad range of parameter values representing the coupling strength or the degree of elements, the system repeats formation and split of coherent…