4 papers
Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases
Juraj Lieskovský, Hijiri Akahane, Aoto Osawa +3
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The…
Continuous-time iterative linear-quadratic regulator
Juraj Lieskovský, Jaroslav BuÅ¡ek, Tomáš VyhlÃdal
We present a continuous-time equivalent to the well-known iterative linear-quadratic algorithm including an implementation of a backtracking line-search policy and a novel regulari…
A Spectrum-based Filter Design for Periodic Control of Systems with Time Delay
Can Kutlu Yüksel, Tomáš VyhlÃdal, Jaroslav BuÅ¡ek +2
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the…
Non-collocated vibration absorption using delayed resonator for spectral and spacial tuning -- analysis and experimental validation
MatÄj KuÅe, Adam Peichl, Jaroslav BuÅ¡ek +2
Non-collocated vibration absorption (NCVA) concept using delayed resonator for in-situ tuning is analyzed and experimentally validated. There are two critical contributions of this…