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检索条件"丛书名=Lecture Notes in Control and Information Sciences"
831 条 记 录,以下是361-370 订阅
排序:
Task-level control of the Lateral Leg Spring model of cockroach locomotion
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Lee, J. Lamperski, A. Schmitt, J. Cowan, N. Johns Hopkins Univ Baltimore MD 21218 USA CALTECH Pasadena CA 91125 USA Oregon State Univ Corvallis OR 97331 USA
The Lateral Leg Spring model (LLS) was developed by Schmitt and Holmes to model the horizontal-plane dynamics of a running cockroach. The model captures several salient features of real insect locomotion, and demonstr... 详细信息
来源: 评论
Running and walking with compliant legs
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Seyfarth, A. Geyer, H. Blickhan, R. Lipfert, S. Rummel, J. Minekawa, Y. Iida, F. Univ Jena Locomot Lab D-07743 Jena Germany Univ Jena D-07749 Jena Germany Univ Zurich Artificial Intelligence Lab CH-8050 Zurich Switzerland
It has long been the dream to build robots which could walk and run with ease. To date, the stance phase of walking robots has been characterized by the use of either straight, rigid legs, as is the case of passive wa... 详细信息
来源: 评论
An approximate dynamic programming approach to decentralized control of stochastic systems
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Workshop on control of Uncertain Systems
作者: Cogill, R Rotkowitz, M Van Roy, B Lall, S Stanford Univ Dept Elect Engn Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Stanford Univ Dept Management Sci & Engn Stanford CA 94305 USA Stanford Univ Dept Elect Engn Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA
We consider the problem of computing decentralized control policies for stochastic systems with finite state and action spaces. Synthesis of optimal decentralized policies for such problems is known to be NP-hard [1].... 详细信息
来源: 评论
Multi-locomotion control of biped locomotion and brachiation robot
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Fukuda, T. Doi, M. Hasegawa, Y. Kajima, H. Nagoya Univ Dept Micronano Syst Engn Chikusa Ku Nagoya Aichi 4648603 Japan Univ Tsukuba Dept Intelligent Interact Technol Tsukuba Ibaraki 3058573 Japan
This paper first introduces a multi-locomotion robot with high mobility and then proposes Passive Dynamic Autonomous control (PDAC) for the comprehensive control method of multiple types of locomotion. PDAC is the met... 详细信息
来源: 评论
Recent advances on the algorithmic optimization of robot motion
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Bobrow, J. E. Park, F. C. Sideris, A. Univ Calif Irvine Dept Mech & Aerosp Engn Irvine CA 92697 USA
An important technique for computing motions for robot systems is to conduct a numerical search for a trajectory that minimizes a physical criteria like energy, control effort, jerk, or time. In this paper, we provide... 详细信息
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Simple feedback control of cockroach running
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Schmitt, J. Oregon State Univ Corvallis OR 97331 USA
The spring loaded inverted pendulum model (SLIP) has been shown to accurately model sagittal plane locomotion for a variety of legged animals. Tuned appropriately, the model exhibits passively stable periodic gaits us... 详细信息
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Investigating the use of iterative learning control and repetitive control to implement periodic gaits
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Longman, R. W. Mombaur, K. D. Columbia Univ Dept Mech Engn New York NY 10027 USA Heidelberg Univ IWR D-69120 Heidelberg Germany
In the next few years considerable effort will be expended to make humanoid robots that can do true dynamic walking, or even running. One may numerically compute a desired gait, e.g. one that has been optimized to be ... 详细信息
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Nonlinear model predictive control and sum of squares techniques
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Raff, T. Ebenbauer, C. Findeisen, R. Allgoewer, F. Univ Stuttgart Inst Syst Theory & Automat Control D-7000 Stuttgart Germany
The paper considers the use of sum of squares techniques in nonlinear model predictive control. To be more precise, sum of squares techniques are used to solve at each sampling instant a finite horizon optimal control... 详细信息
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Dynamical synthesis of a walking cyclic gait for a biped with point feet
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Miossec, S. Aoustin, Y. Natl Inst Adv Ind Sci & Technol AIST Intelligent Syst Res Inst Joint Japanese French Robot Lab Tsukuba Ibaraki 3058568 Japan Univ Nantes Ecole Cent Nantes CNRS Inst Rech Commun & Cybernet NantesUMR 6597 F-44321 Nantes 3 France
This paper deals with a methodology to design optimal reference trajectories for walking gaits. This methodology consists of two steps: (i) design a parameterized family of motions, and (ii) determine the optimal para... 详细信息
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On the gap metric for finite-dimensional linear time-varying systems in continuous time
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Workshop on control of Uncertain Systems
作者: Cantoni, M Univ Melbourne Dept Elect & Elect Engn Parkville Vic 3010 Australia
It is well-known that the gap metric, and its variants, provide a natural framework for studying the robustness of feedback interconnections [1–4]. In fact, for arbitrary linear systems, it is known that the gap metr... 详细信息
来源: 评论