WP5 – Hybrid Method

Once the Hybrid method for motion control is set up the next stage will be the smooth, automatic transition from one method to the other. Until now, no claims have been made in the relevant literature for this to be achieved automatically [11,14,16,22,23]; however it is identified as one of the most important steps for realistic motion control and left as future work [3,5,16,18,21]. For example, issues like when it is best to use the motion capture method and when the dynamics should become clear, as well as how to switch between them with the minimum user-intervention possible; i.e. automatically.

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