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Learning Hybrid Locomotion Skills – Learn to Exploit Residual Dynamics and Modulate Model-based Gait Control [article]

Mohammadreza Kasaei, Miguel Abreu, Nuno Lau, Artur Pereira, Luis Paulo Reis, Zhibin Li
2022 arXiv   pre-print
The framework embeds a kernel which is a fully parametric closed-loop gait generator based on analytical control.  ...  On top of that, a neural network with symmetric partial data augmentation learns to automatically adjust the parameters for the gait kernel and to generate compensatory actions for all joints as the residual  ...  CONCLUSION In this paper, we proposed a locomotion framework based on a tight coupling between analytical control and deep reinforcement learning to combine the potential of both approaches.  ... 
arXiv:2011.13798v3 fatcat:dgrinscvufetbfmkyey66zbfnm

2019 Index IEEE Transactions on Industrial Informatics Vol. 15

2019 IEEE Transactions on Industrial Informatics  
., +, TII May 2019 2892-2904 Efficient Transient Stability Analysis of Electrical Power System Based on a Spatially Paralleled Hybrid Approach.  ...  Damiano, A., +, TII July 2019 4315-4318 Controllability Reinforcement-Learning-Based Optimal Control of Hybrid Energy Storage Systems in Hybrid AC-DC Microgrids.  ... 
doi:10.1109/tii.2020.2968165 fatcat:utk3ywxc6zgbdbfsys5f4otv7u

Extended Summaries

2013 IEEJ Journal of Industry Applications  
In this paper, a hybrid motion controller including both a posture controller based on visual feedback and an end-effector motion controller based on encoder signal is proposed.  ...  Second, a novel controller that is based on the above analysis is proposed, and it is shown that this controller is equivalent to a velocity based motion-copying system, which we proposed in the past.  ... 
doi:10.1541/ieejjia.2.es1_1 fatcat:taj5hot2zjc3xjvzhhyfaxga5u

Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device [article]

Aleksandra Kalinowska, Thomas A. Berrueta, Adam Zoss, Todd Murphey
2019 arXiv   pre-print
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics.  ...  The algorithm is used with data-driven dynamics identification to enable model predictive control based entirely on data.  ...  Specifically, the learned dynamics could be used to predict the system's forward evolution over time and to then calculate a stabilizing control signal using model predictive control to e.g., assist a  ... 
arXiv:1903.00036v1 fatcat:rzf25cw4rjfprkbslilgqu2jda

Discretized Mid-Value CLVI-PDNN Based Redundancy Resolution for Single Leg of Quadruped Robot

Jinhui Rao, Taihui Zhang, Honglei An, Hongxu Ma
2019 Mathematical Problems in Engineering  
A single leg with redundant DOF (degree of freedom) could optimize the distribution of joint torques or angular velocities based on different performance requirements.  ...  and angular velocities with physical constraints of the mechanism as described in our previous paper.  ...  Acknowledgments This research was funded by the Preschool Research Program Funds for the National University of Defense Technology (No. ZK17-03-49).  ... 
doi:10.1155/2019/5071254 fatcat:aewyzo6tibag3ia5guzatsruiu

A Comprehensive Survey on Particle Swarm Optimization Algorithm and Its Applications

Yudong Zhang, Shuihua Wang, Genlin Ji
2015 Mathematical Problems in Engineering  
On the other hand, we offered a survey on applications of PSO to the following eight fields: electrical and electronic engineering, automation control systems, communication theory, operations research  ...  This survey presented a comprehensive investigation of PSO.  ...  A controller was designed based on the nonlinear adaptive output regulation and robust stabilization of a chain of integrators by a saturated feedback to stabilize the position and velocity of a helicopter  ... 
doi:10.1155/2015/931256 fatcat:ubc5eywnhzdjllxjaywe4czhnm

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgements The authors wish to acknowledge the support of the Natural Science and Engineering Research Council of Canada, the Institute for Robotic and Intelligent Systems (IRIS) and Precam Associates  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts

Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
2015 Frontiers in Robotics and AI  
We regulate the forces between the robot and its surrounding environment to stabilize a desired posture. We assume that the forces and torques are exerted on rigid contacts.  ...  The implementation of this control strategy requires the estimation of both joint torques and external forces acting on the robot.  ...  torque control on the iCub humanoid, Julien Jenvrin (Istituto Italiano di Tecnologia, iCub Facility) for the technical hardware support, and Giorgio Metta for the coordination of the iCub Facility activities  ... 
doi:10.3389/frobt.2015.00006 fatcat:5rbqlm24b5cupnna5fwtyux2qa

Discovery of complex behaviors through contact-invariant optimization

Igor Mordatch, Emanuel Todorov, Zoran Popović
2012 ACM Transactions on Graphics  
Additional innovations include a continuation scheme allowing helper forces at the potential contacts rather than the torso, as well as a feature-based model of physics which is particularly well-suited  ...  We expect that CIO can also be used with a full physics model, but leave that extension for future work.  ...  Acknowledgments We thank Tom Erez and Yuval Tassa for inspiring technical discussions. This research was supported in part by NSF, NIH, and NSERC.  ... 
doi:10.1145/2185520.2185539 fatcat:ckikeoy4l5bqjffmpnnk2z3hcm

Discovery of complex behaviors through contact-invariant optimization

Igor Mordatch, Emanuel Todorov, Zoran Popović
2012 ACM Transactions on Graphics  
Additional innovations include a continuation scheme allowing helper forces at the potential contacts rather than the torso, as well as a feature-based model of physics which is particularly well-suited  ...  We expect that CIO can also be used with a full physics model, but leave that extension for future work.  ...  Acknowledgments We thank Tom Erez and Yuval Tassa for inspiring technical discussions. This research was supported in part by NSF, NIH, and NSERC.  ... 
doi:10.1145/2185520.2335394 fatcat:2wiom724hzhahjx3xbp2qeeyge

Scientific Program

2014 Procedia IUTAM  
Padmanabhan, India Noise aided control of rotor-stator system dynamics SM16-038 Nicholas A.  ...  Ricca, Australia Lagrangian and Eulerian hybrid method for weakly nonlinear stability of a rotating flow in a cylinder of elliptic cross-section FM15-047 FM17 : : : General fluid mechanics Jacques Magnaudet  ...  Thickness-shear vibrations of rectangular plates with free edges by the extended kantorovich method FS07-019 Ji  ... 
doi:10.1016/j.piutam.2014.01.011 fatcat:osy4egnuufdophopfpj75e24jm

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
Personal use of this material is permitted.  ...  any copyrighted component of this work in other works.  ...  Silva, A. Chauhan, and L. Lopes for the technical support and help.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Eastern Cardiothoracic Surgical Society 55th Annual Meeting

2018 Innovations (Philadelphia): technology and techniques in cardiothoracic and vascular surgery  
In this research, a new cost estimation framework is developed based on big data analytics tools so that the manufacturing cost associated with a new job can be estimated based on the similar ones in the  ...  The overall activity of Pt-Au based catalysts varies based on the compositional architecture of the system.  ... 
doi:10.1097/imi.0000000000000471 fatcat:m7dkilztybhelp2q6upbwkkyle

EMG-based Simultaneous and Proportional Estimation of Wrist Kinematics and its Application in Intuitive Myoelectric Control for Unilateral transradial Amputees

Farina Dario
2011 Frontiers in Computational Neuroscience  
Acknowledgements Tuesday, Oct 4 -Data Analyis and Machine Learning Acknowledgements This work was funded through a grant from the German Ministry of Education and Research (BMBF, 01GQ1003B).  ...  Acknowledgements Acknowledgements Riken BSI, Helmholtz Alliance on Systems Biology, DAAD, Neuro_IC2010, CNRS-PEPS.  ...  The proposed system is based on homeokinetic control [Der, 2001] , a paradigm for selforganized control of autonomous robots.  ... 
doi:10.3389/conf.fncom.2011.53.00081 fatcat:nkq5wesfpbcjnikbxqh3v3gtqi

Extraction of spatio-temporal primitives of emotional body expressions

Lars Omlor, Martin A. Giese
2007 Neurocomputing  
Neural Control and Synaptic Plasticity in a Planar Biped Walking Robot (2) Neither position control nor trajectory tracking control is used.  ...  The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex based neuronal network, which  ... 
doi:10.1016/j.neucom.2006.10.100 fatcat:esivhljzsbcihdl5qbp756josu
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