This paper introduces a dynamics simulator designed to aid the development of control algorithms for biologically inspired robots. We describe the simulator and a two-tier framework for control code interfacing that allows control code to be written in a standard object-oriented language (C++), but encapsulates such code to produce modular, reusable, distributed controllers with parameterizable...

A system is frequently represented by transfer functions in an inputoutput characterization. However, such a system (under mild assumptions) can also be represented by transfer functions in a port characterization, frequently referred to as a chain-scattering representation. Due to its cascade properties, the chain-scattering representation is used throughout many fields of engineering. This pa...

The design of MIMO PI controller is formulated as an LQR problem. The weighting matrices of the quadratic performance index are chosen so that tuning can be done for each inputoutput channel and for tradeoff between transient response and robustness with respect to modeling error. The number of tuning parameters is the same as that of a decentralized PI controller. A d&ign example is given to d...

This article develops iterative machine learning (IML) for output tracking. The inputoutput data generated during iterations to develop the model used in the iterative update. The main contribution of this article to propose the use of kernel-based machine learning to iteratively update both the model and the model-inversion-based input simultaneously. Additionally, augmented inputs with persis...