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Full-Body Hybrid Motor Control for Reaching [chapter]

Wenjia Huang, Mubbasir Kapadia, Demetri Terzopoulos
2010 Lecture Notes in Computer Science  
In this paper, we present a full-body motor control mechanism that generates coordinated and diverse motion during a reaching action.  ...  We propose a hierarchical control system for controlling the arms, spine, and legs of the articulated character and present a controller-scheduling algorithm for coordinating the sub-controllers.  ...  Figure 4 illustrates a diverse set of reaching motions synthesized for a full-body character using our method.  ... 
doi:10.1007/978-3-642-16958-8_5 fatcat:rnnsrbyu2nhfzptdrxchrpconi

The Effects of Motor Modularity on Performance, Generalizability and Learning in Upper-Extremity Reaching: a Computational Analysis [article]

Mazen Al Borno, Jennifer L. Hicks, Scot Delp
2019 bioRxiv   pre-print
For example, target errors for a controller based on 8 synergies were within 1cm of the full-dimensional controller for new targets in the same plane as the nominal reaching task.  ...  We also found that for new tasks, the synergy- based controllers converged to good solutions (as defined by a cost-function threshold) with lower computational cost than a full-dimensional controller.  ...  On average over ten runs, the hybrid architecture achieved the desired motor performance for the same-plane reaching task using 8.5 fewer samples than the full-dimensional 13 .  ... 
doi:10.1101/804096 fatcat:mndpkev7wjbovok77tnqjuj6hi

Assembling and testing of quasi-static hybrid piezoelectric motor based on electroactive lubrication principle

Jean-Francois Rouchon, Dominique Harribey, Duc-Hoan Tran, Roland Ryndzionek, Łukasz Sienkiewicz, Mieczysław Ronkowski, Michal Michna, Grzegorz Kostro
2013 Archives of Electrical Engineering  
The performance principle of the hybrid motor is described in terms of its working cycle.  ...  The presented paper concerns a novel concept of hybrid piezoelectric motor based on electroactive lubrication principle.  ...  Illustration of the electroactive lubrication principle applied in the hybrid piezoelectric motor: V 1 , V 2 -velocities of the moving body, t 0 -full adhesion interval; t 1 -separation interval; t 2 -  ... 
doi:10.2478/aee-2013-0019 fatcat:lpqsc4trkrclzo3ao7bp7mqpq4

Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity [article]

Eric Ambrose, Aaron D. Ames
2019 arXiv   pre-print
Furthermore, the double-spring model produces stable hopping without the need for stabilizing controllers.  ...  For this robot, a rigorous trajectory optimization method is developed using hybrid systems models with experimentally tuned parameters.  ...  motor from the motor controller.  ... 
arXiv:1909.12930v1 fatcat:s42lgt73avenbmwji2rriodjia

A Control Scheme That Uses Dynamic Postural Synergies to Coordinate a Hybrid Walking Neuroprosthesis: Theory and Experiments

Naji A. Alibeji, Vahidreza Molazadeh, Brad E. Dicianno, Nitin Sharma
2018 Frontiers in Neuroscience  
For the first control system for the hybrid neuroprosthesis configuration, the adaptive synergy-based PID-DSC controller was used to govern the input to the FES and motors.  ...  hybrid knee joint control system composed of FES and an electric motor.  ...  SUPPLEMENTARY MATERIAL The Supplementary Material for this article can be found online at: https://www.frontiersin.org/articles/10.3389/fnins. 2018.00159/full#supplementary-material Conflict of Interest  ... 
doi:10.3389/fnins.2018.00159 pmid:29692699 pmcid:PMC5902565 fatcat:wbgr3xzuanbqdkco5hdrwjj4uq

Comparing the performance and limitations of semi-active suspensions

Xabier Carrera Akutain, Jordi Vinolas, Joan Savall, Miguel Castro
2007 International Journal of Vehicle Systems Modelling and Testing  
A full vehicle model is designed and experimentally validated with collected sensors data for this sake.  ...  Several models of different complexity for controllable shock absorbers are employed, including Continuously Variable Dampers (CVD) and Discrete Stage Variable Dampers (DSVD).  ...  Conclusions A multi-body 7 dof full car model has been designed and validated. In such an environment, hybrid skyhook and extended groundhook control strategies have been simulated.  ... 
doi:10.1504/ijvsmt.2007.016239 fatcat:ut77z7o42nbvjm52g4nowt73mm

Research on the energy control of a dual-motor hybrid vehicle during engine start-stop process

Xiaolin Tang, Dejiu Zhang, Teng Liu, Amir Khajepour, Haisheng Yu, Hong Wang
2019 Energy  
Research on the energy control of a dual-motor hybrid vehicle during engine startstop process, (2018), Abstract: In this paper, motor torque control methods are proposed to suppress the vibration of a  ...  dual-motor hybrid powertrain during start-stop operation.  ...  Based on the controllability discriminant matrix, the necessary and sufficient condition for full control is the full rank controllability discriminant matrix.  ... 
doi:10.1016/j.energy.2018.10.130 fatcat:kcorpegsj5exjau6gd432blose

Toward a Hybrid Model of Developmental Coordination Disorder

Peter H. Wilson, Bouwien Smits-Engelsman, Karen Caeyenberghs, Bert Steenbergen
2017 Current Developmental Disorders Reports  
Introducing a Hybrid Model of Motor Skill Development For the first time, the field of DCD research has a body of behavioural and brain-based experimental evidence that can help theorists build linkages  ...  control and skill learning-a compromised ability for motor prediction [39] [40] [41] .  ... 
doi:10.1007/s40474-017-0115-0 fatcat:d34bj73d55eprjumgbrexcgwne

A Hybrid Mechanism for Helicopters

Chiu, Lee, Tseng, Hsu, Chen
2019 Symmetry  
This study successfully provides the empirical practicability of a hybrid mechanism for helicopters.  ...  so as to (4) keep the full rotor head speed for a helicopter.  ...  so as to (4) keep the full rotor head speed for a helicopter.  ... 
doi:10.3390/sym12010033 fatcat:narqsphsobbmrjreywub3462va

Experimental dynamics of wing assisted running for a bipedal ornithopter

Kevin Peterson, Ronald S. Fearing
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
ACKNOWLEDGMENTS The authors gratefully thank Stan Baek for his design of the ImageProc 2.2 electronics board, and Stan and Aaron Hoover for their diligent work developing the drivers for the electronics  ...  The robot uses constant PWM control for the motor, causing the motor velocity to vary dependent upon load.  ...  TABLE I PHYSICAL I PARAMETERS AND COMPONENTS OF BOLT Total Mass 11.4 grams Body Size 17.5 x 28 x 15 cm Battery Full River 60 mAh lithium polymer Micro-controller Microchip dsPIC33F Communications  ... 
doi:10.1109/iros.2011.6095041 dblp:conf/iros/PetersonF11 fatcat:2fc2crlskjgv3n2zm524dcnu2q

Experimental dynamics of wing assisted running for a bipedal ornithopter

K. Peterson, R. S. Fearing
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
ACKNOWLEDGMENTS The authors gratefully thank Stan Baek for his design of the ImageProc 2.2 electronics board, and Stan and Aaron Hoover for their diligent work developing the drivers for the electronics  ...  The robot uses constant PWM control for the motor, causing the motor velocity to vary dependent upon load.  ...  TABLE I PHYSICAL I PARAMETERS AND COMPONENTS OF BOLT Total Mass 11.4 grams Body Size 17.5 x 28 x 15 cm Battery Full River 60 mAh lithium polymer Micro-controller Microchip dsPIC33F Communications  ... 
doi:10.1109/iros.2011.6048800 fatcat:wliddzaeb5fxnodlv74wda4rnq

Topological analysis of powertrains for refuse-collecting vehicles based on real routes–Part I: Hybrid hydraulic powertrain

F. Soriano, M. Moreno-Eguilaz, J. Alvarez, J. Riera
2016 International Journal of Automotive Technology  
In this two-part paper, a topological analysis of powertrains for refuse-collecting vehicles (RCVs) based on the simulation of different architectures (internal combustion engine, hybrid electric, and  ...  The overall performance of the different architectures indicates that the use of a hybrid hydraulic powertrain with simple control laws can reduce the fuel consumption up to a 14%.  ...  The model of the body of the RCV used for estimations is a Ros Roca Cross Body with a Ros Roca UPC lifter (both hydraulically powered).  ... 
doi:10.1007/s12239-016-0085-y fatcat:hewqr3osavb3tcikrddboczc3i

The Networked Hybrid Concept for Sports Cars

Gabriele Pieraccini, Bodo Becker, Günther Vogt
2014 ATZ worldwide  
Engineering GmbH has converted a sports car with a V12 internal combustion engine and manual six-speed transmission into a vehicle with an axle-split hybrid powertrain.  ...  By doing so, the Bosch subsidiary is demonstrating the potential of electrifi cation for utilising cross-domain systems knowledge to reduce fuel consumption and CO 2 emissions, improve vehicle dynamics  ...  When driving in all-electric mode, for example, drivers can be notifi ed via a signal in the pedal as soon as the electric motors have reached maximum output.  ... 
doi:10.1007/s38311-014-0235-7 fatcat:ipyni3jivjefnpab7ozplexyji

SMALL LAUNCHER ENABLED BY HYBRID ROCKET MOTOR TECHNOLOGY

F. Mingireanu
2016 The International Conference on Applied Mechanics and Mechanical Engineering  
We investigate the full flight dynamics of the launcher with internal ballistic models for the hybrid rocket motors.  ...  The relatively new proposal is to use hybrid rocket motor technology for the second and third stage due to its lower cost of manufacturing as well as simplicity compared to liquid rocket motors.  ...  An internal ballistic model for a cryogenic hybrid rocket motor is presented together with a full 6 DOF model for the flight dynamics of the vehicle.  ... 
doi:10.21608/amme.2016.35171 fatcat:mrrhttczy5awhkj3ozcbsou4qm

Neuroengineering challenges of fusing robotics and neuroscience

Gordon Cheng, Stefan K. Ehrlich, Mikhail Lebedev, Miguel A. L. Nicolelis
2020 Science Robotics  
In addition to direct control of prosthetic devices (6), BMIs have been useful for the rehabilitation of lost sensations and motor function, e.g., in patients with stroke-induced motor impairments (7)  ...  direct control of robotic systems has led to an incorporation of such artificial devices into the representation of the human body by neural circuits in motor and somatosensory cortical and subcortical  ... 
doi:10.1126/scirobotics.abd1911 pmid:33298517 fatcat:zk5wwcy5zrbkljeppf3vpgfud4
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