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This paper shows a detailed modeling process for a hexacopter, taking as a control variables, the force and torques actuating on the vehicle. It also shows the hexacopter equilibrium manifold, with some numerical results that evidence the symmetry along the x and y axis. Finally, a nonlinear optimal control problem is formulated in order to see the hexacopter maneuverability capabilities, showing...
We use simulations of a controller that adopts a spinal-like network topology for goal-oriented reaching and assess its sensitivity to the dynamics of internal elements that allow context-independent performance. Such internal elements are often referred to as inverse or forward models of the periphery dynamics, depending on the proposed controller theory. Here, the “models” are used in a forward...
The special experimental setup for a study of the head-neck system dynamics during impulse acceleration, which arises in the case of the ground and air vehicle crushes, was elaborated. Based on experimental results the authors proposed the simple mechanical model of the “head-neck” system with eight degrees of freedom, which are the rotation angles of the head and seven cervical vertebrae. For the...
This paper presents new methods to develop a running long jump for a simulated humanoid robot. Starting from a steady-state running motion, a new spring loaded inverted pendulum (SLIP) based 3D template model for a running jump is presented. The use of this model is motivated by a simpler model from biomechanics which describes the dynamics of human long jumpers in the sagittal plane. While previously...
In this paper, we present a biomechanical model capable of generating six-DoF trajectories of a swimming dolphin. Our model attempts to closely emulate an actual surfacing and diving dolphin. The degree of biomechanical complexity of our model stands as a reasonable compromise between a complicated flexible multi-link body and an overly-simplified pointmass. We constructed our model through analyzing...
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