Abstract—We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved analytically for a ...
Impulse-Based Control of Joints and Muscles | IEEE Journals & Magazine
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Nov 19, 2007 · Abstract: We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved ...
[PDF] Impulse-Based PD Control for Joints and Muscles - PhysBAM
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Extending PD control to multiple joints signifi- cantly complicates the situation, because each joint generates forces that interfere with neighboring joints.
We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved analytically for a single degree ...
We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved analytically for a single degree ...
We start with simple examples to illustrate our method, and then move on to more complex examples including PD control of line segment muscle actuators.
Impulse-Based Control of Joints and Muscles · PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments · Sleeve ...
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More recently, in [143] , I helped augment these articulated rigid bodies with joint and muscle control, solving for the actuation impulses needed to smoothly ...
We start with simple examples to illustrate our method and then move on to more complex examples including PD control of line segment muscle actuators.
We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved analytically for a single degree ...