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The Symmetrical Optimum tuning proposed by Kessler (1958) and further modified by Voda and Landau (1995) ensures that maximum phase margin is achieved for the resulting closed loop system. The equations for Symmetrical Optimum tuning as defined by Astrom and Hagglund (1995) have recently been improved by Preitl and Precup (1999). In this paper the Preitl(More)
Inspired by the cheetah, we present a novel tail control system for manoeuvring terrestrial robots at high speed. The mathematic model for a high-speed turn is derived and the model with a tail is shown to be more successful at rapid turns in simulation. We then built a high speed mobile platform with an actuated tail to experimentally validate the control(More)
Stimulated by recent biomechanics research of the cheetah, a novel tail controller system for rapid acceleration and braking is presented. To understand the targeted behaviour of a cheetah performing a longitudinal manoeuvre and the effects an actuated tail has, a simple mathematical template was developed. Subsequently feedback controllers were designed(More)
This paper describes a geometrical method for solving the inverse kinematic (IK) problem of a 5 Degrees of Freedom (DOF) redundant manipulator. A geometric inverse kinematics solution is desirable as it provides complete and simple solutions to the problem and determines efficiently the relationship between the joints and the end-effector without iterative(More)
A theoretical framework that is based on a generalization of state space systems is proposed. The resulting transfer function connection matrix model describes both subsystem interconnections and dynamics in an integrated mathematical formulation, yet ensures that the dynamic and the connection aspects of the system are separated into two sets of equations(More)