Operational Space Control: A Theoretical and Empirical Comparison (2009)
Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal, Rick Cory, ...
Citations (this article cites 33 articles hosted on the
DOI 10.1007/s10514-007-9051-x A unifying framework for robot control with redundant DOFs (2009)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal, J. Peters, ...
2003:1783–1800, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-offreedom (DOFs) using a generalization of Gauss ’ principle of least constraint. This...
Michael Mistry, Evangelos Theodorou, Heiko Hoffman, Stefan Schaal
Scheidt et al. demonstrated that subjects exposed to a viscous force field of fixed structure but varying strength (randomly changing from trial to trial), learn to adapt to the mean disturbance,...
Jun Nakanishi, Michael Mistry, Jan Peters, Stefan Schaal
Abstract — Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant...
An Exoskeleton Robot for Human Arm Movement Study ∗ (2008)
Michael Mistry, Peyman Mohajerian, Stefan Schaal
Abstract — A new experimental platform permits us to study a novel variety of issues of human motor control, particularly full 3-D movements involving the major seven degrees-of-freedom (DOF) of...
Task Space Control with Prioritization for Balance and Locomotion (2008)
Michael Mistry, Jun Nakanishi, Stefan Schaal
Abstract — This paper addresses locomotion with active balancing, via task space control with prioritization. The center of gravity (COG) and foot of the swing leg are treated as task space control...
A Unifying Framework for Robot Control with Redundant DOFs (2008)
Peters, Jan, Mistry, Michael, Udwadia, Firdaus, Nakanishi, Jun, Schaal, Stefan
Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss’ principle of least constraint....
Nakanishi, Jun, Mistry, Michael, Peters, Jan, Schaal, Stefan
Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant control is that a...
A bayesian approach to nonlinear parameter identification for rigid body dynamics (2006)
Jo-anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, Jun Nakanishi
Abstract — For robots of increasing complexity such as humanoid robots, conventional identification of rigid body dynamics models based on CAD data and actuator models becomes difficult and...
A Unifying Framework for Robot Control with Redundant DOFs (2006)
Jan Peters, Michael Mistry, Firdaus Udwadia
Recently, (Udwadia, 2003) suggested to derive tracking controllers for mechanical systems with redundant degrees-of-freedom (DOFs) using a generalization of Gauss ’ principle of least constraint....
Arm movement experiments with joint space force fields using an exoskeleton robot (2005)
Michael Mistry, Peyman Mohajerian, Stefan Schaal
Abstract — A new experimental platform permits us to study a novel variety of issues of human motor control, particularly full 3-D movements involving the major seven degrees-offreedom (DOF) of the...
A unifying methodology for the control of robotic systems (2005)
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, Stefan Schaal
Abstract — Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of Gauss’ principle of least constraint. This method allows us to reformulate...
Comparative experiments on task space control with redundancy resolution (2005)
Jun Nakanishi, Michael Mistry, Stefan Schaal
Abstract — Understanding the principles of motor coordination with redundant degrees of freedom still remains a challenging problem, particularly for new research in highly redundant robots like...