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We present a new formulation for autonomous (i.e. time-independent) Dynamical Systems (DS) to perform discrete robot motions with em non-zero velocity at a given target. The proposed model ensures the convergence of all trajectories to the target, and is i ...
Event-based control is an alternative to traditional control where new measurements are sampled only if critical events occur. This not only allows to reduce the control effort but it satisfies nowadays application requirements, such for example reduction ...
We apply a new method for the determination of periodic orbits of general dynamical systems to the Lorenz equations. The accuracy of the expectation values obtained using this approach is shown to be much larger and have better convergence properties than ...
We present the modeling and experimental characterization of a monolithic 3-phase rotary stepper micromotor which employs a flexure suspension to guide the rotor. The monolithic structure avoids any frictional contact during operation, providing a precise, ...
Estimating the parameters of a dynamical system based on measurements is an important task in industrial and scientific practice. Since a model's quality is directly linked to its parameter values, obtaining globally rather than locally optimal values is e ...
We developed a space and time adaptive method to simulate electroosmosis and mass transport of a sample concentration within a network of microchannels. The space adaptive criteria is based on an error estimator derived using anisotropic interpolation esti ...
Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. T ...
This paper presents a method to learn arbitrary discrete motions from a set of demonstrations. We model a motion as a nonlinear autonomous (i.e. time-invariant) dynamical system, and define the sufficient conditions to make such a system globally asymptoti ...
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Generalized Linear Models have become a commonly used tool of data analysis. Such models are used to fit regressions for univariate responses with normal, gamma, binomial or Poisson distribution. Maximum likelihood is generally applied as fitting method. I ...
In this thesis we describe a strategy to control robotic knees and ankles. A dynamical system is used to generate a position trajectory to control a servo motor replacing the missing joint. The dynamical system consists in a pool of coupled oscillators mod ...
