This paper introduces a method to minimize norms on nonlinear trajectory sensitivities during open-loop trajectory optimization. Specifically, we derive new parametric sensitivity terms that measure the variation in nonlinear (continuous-time) trajectories due to variations in model parameters, and hybrid sensitivities, which account for variations in trajectory caused by sudden transitions fro...

Hybrid mechanical press is an innovative sheet metal stamping press that has the advantages of both mechanical press and the hydraulic press. This paper focuses on the control of the hybrid mechanical press, including trajectory planning, trajectory optimization and real time feedback control. The trajectory planning is based on inverse kinematics and cubic spline interpolation. The trajectory ...

Humans and animals are capable of overcoming complex terrain challenges with graceful and agile movements. One of the key ingredients for such complex behaviors is motion coordination to exploit passive dynamics. We present a direct collocation trajectory optimization to find optimal control policy and generate optimal trajectory for the swing up motion of a gymnast on high bar. Notwithstanding...

This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using manual tuning and multiobjective genetic algorithm optimization that provide energy efficient and fast locomotion. Manual trajectory tuning is used to obtain initial set of trajectories for the multiobjective GA optimization. The multiobjective optimization evaluates the energy ...

This paper shows how the treatment of trajectory constraints in some recent software packages like the Nonlinear Trajectory Generation (NTG) can be improved by taking into account some structural properties of the initial optimal control problem that are lost in the transformation of the problem into an optimization one. The proposed method leads to a smaller complexity and a better accuracy.

Human speech production is often described as an optimisation process, which tends to maximise the effectiveness of the communication process minimising the effort involved in the production. The aim of this paper is to investigate this highly complex problem with two dimensionally reduced spaces corresponding to different computational models. Since the highdimensional parameter space which us...

High force density, compact form factor and muscle like compliance properties makes pneumatics actuators quite desirable for robotic applications. However, the compressibility of the air not only throttles their bandwidth but also makes them harder to control. In this work, we leverage online trajectory optimization techniques to design high performance controllers for pneumatic actuators of AD...

Traditional multidisciplinary design optimization methodologies of hypersonic missions often employ population-based global searching methods that rely on shooting methods to perform trajectory optimization. In this investigation, a rapid simultaneous hypersonic aerodynamic and trajectory optimization methodology is constructed based on variational methods. This methodology is constructed from ...

Iterative learning control is a control technique used for the tracking of a finite duration trajectory. Iterative learning control (ILC) with focus on speed of tracking specific points and tracking error on these points is analyzed in this paper. A technique is introduced which employs the receding horizon optimization to track the points along with the iterative learning control is introduced...

I study a model of dynamic policy making in which citizens do not have complete knowledge of how policies are mapped into outcomes. They learn about the mapping through repeated elections as policies are implemented and outcomes observed. I characterize for this environment the policy trajectory with impatient voters. I find that through experimentation good policies are frequently found. Howev...