Control algorithms which exploit the unique properties of chaos can vastly improve the design and performance of many practical and useful systems. The program Perfect Moment is built around such an algorithm. Given ...

This paper presents techniques that actively exploit chaotic behavior to accomplish otherwise-impossible control tasks. The state space is mapped by numerical integration at different system parameter values and ...

Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the ...

In this report, a method for exploiting the redundancy of a hand-arm mechanical system for manipulation tasks is illustrated. The basic idea is to try to exploit the different intrinsic capabilities of the arm and hand ...

Animating natural human motion in dynamic environments is difficult because of complex geometric and physical interactions. Simulation provides an automatic solution to parts of this problem, but it needs control systems ...