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Control by interconnection (CbI) is a dynamic output-feedback approach used to control port-Hamiltonian (PH) systems. Here, both the plant and the controller are modelled in PH form, in terms of their own Hamiltonians. However, obtaining an appropriate controller Hamiltonian is generally difficult. In this paper, we address this issue by using reinforcement learning (RL). Additionally due to the semi-supervised...
Legged robots are intrinsically nonlinear hybrid dynamic systems due to the intermittent contact of the feet with the ground. For optimal performance, in the sense of maximizing speed or energy consumption, different motion control affects the stance from the swing leg during a stride. Designing such controllers, however, can be a daunting task when there is a lack of knowledge about the exact operating...
We present an unscented Kalman filter based state estimator for a fast moving rigid body (such as a mobile robot) endowed with two video cameras. We focus on forward velocity estimation towards the computation of standard energy cost functions for legged locomotion. Points are chosen as image features and the model of each camera is based on the traditional pinhole projection. The resulting filter's...
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