This paper presents the latest advances we made in static and dynamic locomotion with our compliant quadrupedal robot StarlETH. We outline a hierarchical task-space inverse dynamics framework based on least square optimization that allows for simple generation of complex robot behaviors and simultaneous optimization of joint torque and contact force objectives. Strong focus is put on experiment...

It has long been hoped that model-based control will improve tracking performance while maintaining or increasing compliance. This hope hinges on having or being able to estimate an accurate inverse dynamics model. As a result, substantial effort has gone into modeling and estimating dynamics (error) models. Most recent research has focused on learning the true inverse dynamics using data point...

We have developed a hybrid optimization algorithm for inversion of gravity data using a binary formulation. The new algorithm utilizes the Genetic Algorithm (GA) as a global search tool, while implementing Quenched Simulated Annealing (QSA) intermittently for local search. The hybrid has significantly decreased computational cost over GA or Simulated Annealing (SA) alone and has allowed for suc...

Solving inverse problems, in particular inverse scattering problems, parameterfitting procedures are used quite often because the analytical inversion procedures are not available. The general scheme for such procedures is simple: one has a relation B(q) = A, where B is some operator, q is an unknown function, and A is the data. In inverse scattering problems q is a potential, and A is the scat...

A new method for obtaining the optimal experimental/measurement procedure for general estimation problems is proposed. This approach is based on the framework of the Kalman lter technique. The eigen values of a posteriori estimate error covariance matrix depend on measurement conditions, such as geometries of specimens, structure of experimental sets, locations of measurements and types of meas...

This paper presents the algorithms to interactively optimize the tool path of the five-axis milling machine. The algorithms employ the inverse kinematics to derive the corresponding trajectories (rotation and translation movement) of the five-axis machine. The trajectory of the tool path is not unique and depends on the initial set up of the workpiece as well as the combined rotations of the ma...

BACKGROUND AND PURPOSE High dose rate (HDR) brachytherapy is a clinically used procedure in prostate cancer treatment. The purpose of this study was to present the influence of using different optimization algorithms in 3D-CBRT planning on the treatment plan quality. MATERIALS AND METHODS Treatment plans were calculated for 15 patients--three plans for each patient using: geometrical optimiza...