Titlebook

mature

incubus

Limitations of linear identification and control techniques for flexible robots with nonlinear join which the controller is based, is the result of a least squares parameter estimation algorithm that has been developed especially for the test setup. The algorithm divides the total model into two submodels in series, and estimates their parameters separately. The controller does not use a direct e

lipoatrophy

A simple juggling robot: Theory and experimentation,onment interactions, among them the task of juggling. We review our empirical success to date with a new class of control algorithms for this task domain that we call “mirror algorithms.” These new nonlinear feedback algorithms were motivated strongly by experimental insights after the failure of lo

NEX

Passive dynamic running,illations that recycle energy from one step to the next. This paper considers how springy hips can be used to improve the efficiency of the legs‘ fore and aft swinging motions in running. We have studied a passive hopping machine model, composed of links, masses, and springs, but with no actuators.

jealousy

Cooperative and learning control for complex robot systems,ator with Rubbertuators which have complicated dynamical characteristics such as the hysterisis and the compressibility of air. Another one is a multi-fingered robot hand manipulating an object under the influence of the task environment. The applicability of a learning control scheme to the former

使长胖

Asymmetric hybrid control of positions and forces of a dual arm robot to share loads,a single object. The control scheme implements both hybrid control of forces and positions and load sharing between the two arms. An industrial dual arm robot with four degrees-of-freedom for each arm is used in the experiment. An adaptive load sharing algorithm is obtained experimentally and is int

使长胖

Dynamic hybrid position/force control of robot manipulators: On-line estimation of unknown constrai exerted by the end effector on an object. For this purpose, Raibert and Craig proposed the hybrid position/force control method. Extending their method, we proposed the dynamic hybrid control method which takes into consideration the manipulator dynamics and the constraints on the end effector spec

amorphous

Ingest

Adaptation to environment stiffness in the control of manipulators,rameters: e.g. the force response at low stiffnesses may be sluggish, while high stiffnesses give rise to bouncing and instability. An adaptive controller, based on the model reference approach, for multi-axis damping control is presented. Simulation results show that the adaptive scheme can signifi

MEEK

Experimental studies of adaptive manipulator control,fy high-level programming by providing consistent performance in the face of large variations in loads or tasks. Previously, a simple, globally tracking-convergent, direct adaptive manipulator controller was derived and demonstrated experimentally. It was then further refined into a “composite” vers