This paper focuses on adaptive motor control in the kinematic domain. Several motor learning strategies from the literature are adopted to kinematic problems: “feedback-error learning”, “distal supervised learning”, and “direct inverse modeling”. One of these learning strategies, direct inverse modeling, is significantly enhanced by combining it with abstract recurrent neural networks. Moreover...

: Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipulators is presented in a unified mathematical...

This paper describes methods applicable to the modeling and control of mechanical contact, particularly those systems that experience uncertain stick/slip phenomena. Geometric kinematic reductions are used to reduce a system’s description from a second-order dynamic model with frictional disturbances coming from a function space to a first-order model with frictional disturbances coming from a ...

Dual quaternions and dual quaternion interpolation are powerful mathematical tools for the spatial analysis of rigid body motions. In this paper, after a review of some basic results and formulas, it will be presented an attempt to use these tools for the the kinematic modeling of human joints. In particular, the kinematic parameters extracted from experimentally acquired data are compared with...

The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the diiculties in dynamic modeling of legged robots. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method is used to obtain the dynamic model. S...

The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the di culties in dynamic modeling of legged robots. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method is used to obtain the dynamic model. S...

In this paper, we present a novel approach that makes use of multiscale and multiphysics modeling coupled to virtual reality for nanorobotic prototyping systems. First, a CAD-assisted assembly system that integrates principles for a multiscale approach into a nanorobotics structure design is presented. Then, we focus on the different design levels, more specifically, the optimization of geometr...

This thesis presents observations and modeling of nearby embedded sources in the earliest stage of protostellar evolution, i.e., Class 0 young stellar objects, using interferometric data of the Berkeley-Illinois-Maryland Association array and the Combined Array for Research in Millimeter-wave Astronomy. Protostars form through gravitational collapse inside their natal envelopes, and these circu...

We characterize the spatiotemporal evolution of a photosensitive Belousov-Zhabotinsky medium that is made up of coupled oscillatory cells with randomly distributed frequencies. The medium evolves from an initial state of multiple wave sources to a synchronized state governed by a single wave source. The synchronization occurs via a competition between the sources, which arises when the oscillat...

this paper presents simplified hydrodynamics model for a biomimetic robot fish based on quantitative morphological and kinematic parameters of crangiform fish. the motion of four pangasius sanitwongsei with different length and swimming speed were recorded by the digital particle image velocimetry (dpiv) and image processing methods and optimal coefficients of the motion equations and appropria...