M Neunert, M Stauble, M Giftthaler, et al. Whole-body nonlinear model predictive control through contacts for quadrupeds. IEEE Robotics & Automation Letters, 2018, 3(3): 1458-1465.M. Neunert, M. Stauble, M. Giftthaler, C. D. Bellicoso, J. Carius, C. Gehring, M. Hutter, and ...
In addition to the derivation this thesis discusses extensions to the performance in terms of numerical stability, its uses for non- trivial robot structures (e.g., loopy robots) and the incorporation of nonlinear constraints. Furthermore, this thesis shows that the dampened least-squares inverse ...
However, inclusion of age in the final model did not improve R2 among women (RFM model: R2 = 0.66; RFM and AGE model: R2 = 0.66) or among men (RFM model: R2 = 0.75; RFM and AGE model: R2 = 0.75). Likewise, inclusion of ethnicity in the final model did not ...
This provides the advantage of having the ability to capture nonlinear relationships between the response variable and the covariates (otherwise known as “tuning function”), while still having the interpretability of a linear model. Mathematically, a GAM has the form of $$g(E(y))={\sum }_...
NMPC, Nonlinear Model Predictive Control. Table 4. [Hardware experiment result.] Key Performance Indicators (KPIs) for the starting step. Table 5. [Hardware experiment result.] Key Performance Indicators (KPIs) for the periodic step. Note that in the case of motions obtained with the cart-...
A hierarchical nonlinear control algorithm was developed, based on model predictive control, quadratic programming, and virtual constraints, to generate and stabilize motions [12]. Although some numerical simulation studies are presented to demonstrate the algorithm’s effectiveness, none of the ...
Quadrupedal locomotion using hierarchical operational space control. Int. J. Robot. Res. 2014, 33, 1047–1062. [Google Scholar] [CrossRef] Bellicoso, C.D.; Jenelten, F.; Gehring, C.; Hutter, M. Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots. IEEE ...
Keywords: UGVs; trajectory tracking; pure pursuit; model predictive control; whole-body control1. Introduction In recent years, unmanned ground vehicles (UGVs) have become a key focus in the field of robotics, particularly for their ability to navigate autonomously in diverse environments. UGVs, ...
Dehghani, S.; Bahrami, F. How does the CNS control arm reaching movements? Introducing a hierarchical nonlinear predictive control organization based on the idea of muscle synergies.PLoS ONE2020,15, e0228726. [Google Scholar] [CrossRef]
The basic structure only had one hidden layer, and since any complex nonlinear function can be approximated in the first instance with this structure according to ANN theory [56], this was the structure selected. The ANN models were constructed, trained and validated using Python and Scikit-...