5 accepted papers
Longitudinal oscillations are commonly observed in depth control of low-speed underwater platforms such as bio-inspired robotic fish. To investigate this issue, this letter conducts a quantitative analysis of the vertical-plane dynamics. It reveals the speed-dependent coupling between the depth and
Robot inverse kinematics is the foundation of robotics and an indispensable part of robot development and applications. The inverse kinematics of a robotic arm involves its specific configuration, the non-convex coupling relationships between joints, and the presence of multiple solutions, among oth
Dynamic modeling is essential for comprehending physical mechanisms and devising control strategies in bionic robot research. This letter introduces a novel dynamic modeling method that combines Lagrangian dynamics and data-assisted techniques for robotic fish with bionic morphology, multi-joint str
Pre-trained encoder-decoder models are widely applied in Task-Oriented Dialog (TOD) systems on the session level, mainly focusing on modeling the dialog semantic information. Dialogs imply structural information indicating the interaction among user utterances, belief states, database search results…
In this letter, a novel variable gain active disturbance rejection control (VGADRC) approach is developed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The proposed VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended