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In this paper we describe the design of a Cartesian Controller for a generic robot manipulator. We address some of the challenges that are typically encountered in the field of humanoid robotics. The solution we propose deals with a large number of degrees of freedom, produce smooth, human-like motion and is able to compute the trajectory on-line. In this paper we support the idea that to produce...
Real autonomous systems are very difficult to design, mainly due to the ever changing conditions of the environments where they are supposed to work. In the area of humanoid robotics these difficulties are increased not only because of the complexity of their mechanical structure, above all because they are supposed to work under the same dynamic conditions as we humans do. Our approach for the creation...
The task of tracking an object has been fully studied and many solutions presented before. However, it is a perfect test bed for the study of a novel model using Coupled Chaos Systems. Once an object appears in front of a camera, we demonstrate that the visual input is enough for the self-organization of the torques applied to each of the axes controlling the motion of a simulated eye. No learning...
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