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The operational space formulation is applied to a practical robot system in order to generate realistic human reaching motion based on the minimisation of `effort', a function of gravity and weighting gains. We present a novel optimal sliding mode controller that uses techniques of steepest descent to achieve this minimisation without affecting the task controller. The sliding mode optimal controller...
In this paper we describe a method for bridging internet time delays in a teleoperation scenario. In the scenario, the sizes of the time delays is not only stochastic, but it is also large compared to the task execution time. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the one-way communication delay. We present...
Biped robot research has been developing several decade of year in the world. We usually saw experimental biped robot in order to reduce single leg support time and let biped robot easy to control, so many researcher choose linearism plant of biped robot. But this approach couldnpsilat make our biped robot smooth walking naturally like as real human. We will obtain each angle of joints from real human...
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