Typical use of inverse dynamics in perceiving motion in autistic adults: Exploring computational principles of perception and action
Sign Up to like & getrecommendations! Published in 2018 at "Autism Research"
DOI: 10.1002/aur.1961
Abstract: There is increasing evidence for motor difficulties in many people with autism spectrum condition (ASC). These difficulties could be linked to differences in the use of internal models which represent relations between motions and forces/efforts.… read more here.
Keywords: motion; autism; force; autistic adults ... See more keywords
Numerical integration for the inverse dynamics of a large class of cranes
Sign Up to like & getrecommendations! Published in 2019 at "Multibody System Dynamics"
DOI: 10.1007/s11044-019-09691-3
Abstract: A recently developed index reduction method is applied to comparatively complicated underactuated mechanical systems in the context of inverse dynamics. The inverse dynamics formulation is carried out by employing servo constraints in which the outputs… read more here.
Keywords: inverse dynamics; numerical integration; index; index reduction ... See more keywords
Influence of the kinematic constraints on dynamic residuals in inverse dynamic analysis during human gait without using force plates
Sign Up to like & getrecommendations! Published in 2020 at "Multibody System Dynamics"
DOI: 10.1007/s11044-020-09739-9
Abstract: The conventional use of inverse dynamics applied to gait analysis involves the estimation of joint forces and moments based on kinematic data, anthropometric parameters and force plate data. The procedure uses the measured ground reactions… read more here.
Keywords: dynamic residuals; ground; force plates; force ... See more keywords
Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers
Sign Up to like & getrecommendations! Published in 2018 at "CEAS Space Journal"
DOI: 10.1007/s12567-017-0155-7
Abstract: An experimental campaign has been conducted to evaluate the performance of two different guidance and control algorithms on a multi-constrained docking maneuver. The evaluated algorithms are model predictive control (MPC) and inverse dynamics in the… read more here.
Keywords: model predictive; experimental evaluation; control; predictive control ... See more keywords
Adaptive finite-time stabilisation of a class of high-order nonlinear systems with inverse dynamics
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Systems Science"
DOI: 10.1080/00207721.2017.1317878
Abstract: ABSTRACT This paper investigates the adaptive finite-time stabilisation of a class of high-order nonlinear systems with inverse dynamics and time-varying control coefficients. Under the assumptions that the inverse dynamics of the subsystem are input-to-state stable… read more here.
Keywords: finite time; adaptive finite; stabilisation class; time ... See more keywords
Modeling and Simulation of Robot Inverse Dynamics Using LSTM-Based Deep Learning Algorithm for Smart Cities and Factories
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2957019
Abstract: In smart cities and factories, robotic applications require high dexterity and security, which requires precise inverse dynamics model. However, the physical modeling methods cannot model the uncertain factors of the manipulator such as flexibility, joint… read more here.
Keywords: inverse dynamics; smart cities; cities factories; lstm ... See more keywords
A Data-Efficient Geometrically Inspired Polynomial Kernel for Robot Inverse Dynamic
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2945240
Abstract: In this letter, we introduce a novel data-driven inverse dynamics estimator based on Gaussian Process Regression. Driven by the fact that the inverse dynamics can be described as a polynomial function on a suitable input… read more here.
Keywords: inspired polynomial; inverse dynamics; geometrically inspired; data efficient ... See more keywords
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of Parallel Kinematic Manipulators
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3267005
Abstract: Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory control of parallel kinematics… read more here.
Keywords: time; lie group; derivatives inverse; group formulation ... See more keywords
Finite-Time Stabilization of Stochastic High-Order Nonlinear Systems With FT-SISS Inverse Dynamics
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2018.2827993
Abstract: This paper aims to solve the finite-time stabilization problem for stochastic high-order nonlinear systems with stochastic inverse dynamics. By characterizing unmeasured stochastic inverse dynamics with finite-time stochastic input-to-state stability (FT-SISS), borrowing from some ideas of… read more here.
Keywords: finite time; stochastic high; time; inverse dynamics ... See more keywords
Accelerated Convergence Interleaving Iterative Learning Control and Inverse Dynamics Identification
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2021.3053561
Abstract: This work aims to quickly identify an FIR inverse dynamical model for linear time-invariant (LTI) systems. Various applications are enabled using the constructed inverse filter, as illustrated by an inversion-based iterative learning control (ILC) algorithm.… read more here.
Keywords: inverse dynamics; learning control; iterative learning; dynamics identification ... See more keywords
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2018.2861917
Abstract: In this paper, we present a novel global tracking control approach for elastic-joint robots that can be efficiently computed and is robust against model uncertainties and input disturbances. Elastic-joint robots provide enhanced safety and resiliency… read more here.
Keywords: control; elastic joint; joint robots; inverse dynamics ... See more keywords