In this paper an iterative learning control design method is depicted, leading to a feedforward controller minimizing tracking error of repetitive trajectories. The approach is ex...
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introdu...
— This paper proposes a population based adaptive tuning for dynamic position control of robot manipulators. The dynamic behavior of a robot manipulator is highly nonlinear, and ...
This paper presents a method to retarget the motion of a character to another in real-time. The technique is based on inverse rate control, which computes the changes in joint ang...
The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of w...
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiya...