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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371-380 订阅
排序:
On the determination of the basin of attraction for stationary and periodic movements
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Giesl, P. Wagner, H. Tech Univ Munich Zentrum Math D-85747 Garching Germany Univ Munster D-48149 Munster Germany
来源: 评论
Velocity-based stability margins for fast bipedal walking
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Pratt, J. E. Tedrake, R. Florida Inst Human & Machine Cognit Pensacola FL USA MIT Cambridge MA 02139 USA
We present velocity-based stability margins for fast bipedal walking that are sufficient conditions for stability, allow comparison between different walking algorithms, are measurable and computable, and are meaningf... 详细信息
来源: 评论
Holonomy and nonholonomy in the dynamics of articulated motion
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Wieber, P-B. INRIA Rhone Alpes F-38334 Saint Ismier France
Walking, running or jumping are special cases of articulated motions which rely heavily on contact forces for their accomplishment. This central role of the contact forces is widely recognized now, but it is rarely co... 详细信息
来源: 评论
Performing open-loop stable flip-flops - An example for stability optimization and robustness analysis of fast periodic motions
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Mombaur, K. Univ Heidelberg IWR D-69120 Heidelberg Germany
For fast motions in biomechanics and robotics, stability and robustness against perturbations are critical issues. The faster a motion the more important it is to exploit the system's natural stability properties ... 详细信息
来源: 评论
Actuation system and control concept for a running biped
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Luksch, T. Berns, K. Floerchinger, F. Univ Kaiserslautern Kaiserslautern Germany
Dynamic walking with two-legged robots is still an unsolved problem of todays robotics research. Beside finding mathematical models for the walking process, suitable mechanical designs and control methods must be foun... 详细信息
来源: 评论
Optimal, worst case filter design via convex optimization
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Workshop on control of Uncertain Systems
作者: Sun, KP Packard, A Lehman Brothers New York NY 10019 USA Univ Calif Berkeley Berkeley CA 94720 USA
The problem of model based signal estimation is fundamental to control theory and signal processing, and several approaches have been developed in last decades, for instance, the Kalman filter (H2 optimal filtering) [... 详细信息
来源: 评论
Re-injecting the structure in NMPC schemes - Application to the constrained stabilization of a snakeboard
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Alamir, M. Boyer, F. CNRS Lab Automat Grenoble INPG UJF F-38400 St Martin Dheres France IRCCYN F-44321 Nantes 3 France
In this paper, a constrained nonlinear predictive control scheme is proposed for a class of under-actuated nonholonomic systems. The scheme is based on fast generation of steering trajectories that inherently fulfill ... 详细信息
来源: 评论
Feedback networks
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Workshop on control of Uncertain Systems
作者: Vinnicombe, G Univ Cambridge Dept Engn Cambridge CB2 1PZ England
This paper presents a survey of some recent results which are primarily concerned with the action of relatively simple controllers working in complex networks. Feedback system design is all about getting the right amo... 详细信息
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Stability analysis of bipedal walking with control or monitoring of the center of pressure
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Djoudi, D. Chevallereau, C. Univ Nantes Ecole Cent Nantes IRCCyN CNRSUMR 6597 F-44321 Nantes 3 France
The objective of this study is to analyze the stability of two control strategies for a planar biped robot. The unexpected rotation of the supporting foot is avoided via the control of the center of pressure or CoP. F... 详细信息
来源: 评论
Self-stability in biological systems - Studies based on biomechanical models
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Symposium on Fast Motions in Biomechanics and Robotics
作者: Wagner, H. Giesl, P. Univ Munster D-48149 Munster Germany Tech Univ Munich Zentrum Math D-85747 Garching Germany
Mechanical properties of complex biological systems are non-linear, e.g. the force-velocity-length relation of muscles, activation dynamics, and the geometric arrangement of antagonistic pair of muscles. The control o... 详细信息
来源: 评论