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Neural network-based motion control of an underactuated wheeled inverted pendulum model (2014)
Journal Article
Yang, C., Li, Z., Cui, R., & Xu, B. (2014). Neural network-based motion control of an underactuated wheeled inverted pendulum model. IEEE Transactions on Neural Networks and Learning Systems, 25(11), 2004-2016. https://doi.org/10.1109/TNNLS.2014.2302475

In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed i... Read More about Neural network-based motion control of an underactuated wheeled inverted pendulum model.

Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning (2014)
Conference Proceeding
Smith, A., Yang, C., Ma, H., Culverhouse, P., Cangelosi, A., & Burdet, E. (2014). Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning. https://doi.org/10.1109/ISIC.2014.6967605

© 2014 IEEE. A biomimetic controller with online adaptation of impedance and force is applied to a full kinematic and dynamic model of the Baxter bimanual robot. A set of fuzzy logic engines are proposed to infer the values of tuning gains which affe... Read More about Dual adaptive control of bimanual manipulation with online fuzzy parameter tuning.