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Dexterous manipulation with a highly redundant movement system is one of the hallmarks of human motor skills. From numerous behav-ioral studies, there is strong evidence that humans employ compliant task space control, i.e. they focus control only on task variables while keeping redundant degrees-of-freedom as compliant as possible. This strategy is robust(More)
High-precision maneuvers at high angles-of-attack are not properly addressed by even the most advanced aircraft control systems. Here we present our control design procedure and indoor experimental results with a small fixed-wing autonomous glider which is capable of executing an aggressive high angle-of-attack maneuver in order to land on a perch. We first(More)
Acknowledgments First of all, I have to thank the wonderful people at the University of Southern Califor-nia. This thesis proposal would have never been possible without initiation, continuing encouragement, coordination, supervision and understanding help of Stefan Schaal. He is a great 'sensei' and has endured my emotional roller-coaster ride from my(More)
— 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 humanoids. Even after more than a decade of research, task space control with redundacy resolution still remains an incompletely understood theoretical topic, and also lacks(More)
— Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of Gauss' principle of least constraint. This method allows us to reformu-late control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot(More)
  • Citation Roberts, R Cory, R Tedrake
  • 2009
— The ability of birds to perch robustly and effectively is a powerful demonstration of the capabilities of nature's control systems. Their apparent robustness to gust disturbances is particularly remarkable because when the airspeed approaches zero just before acquiring a perch, the influence of aerodynamic forces, and therefore potentially the control(More)
Birds routinely execute post-stall maneuvers with a speed and precision far beyond the capabilities of our best aircraft control systems. One remarkable example is a bird exploiting post-stall pressure drag in order to rapidly decelerate to land on a perch. Stall is typically associated with a loss of control authority, and it is tempting to attribute this(More)
M any electronic systems must be tuned through the variation of reactance of one or more circuit elements. In these applications it is often desirable to perform this tuning under electronic rather than manual control. Tuning varactor diodes, which are pn junction devices that act as voltage controlled variable capacitors, can perform this function, and are(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract. Birds routinely execute post-stall maneuvers with a speed and precision far beyond the capabilities of our best aircraft control systems. One remarkable example is a bird exploiting post-stall pressure drag in order to rapidly(More)