Dynamic walking: Toward agile and efficient bipedal robots
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …
reality. This is due to continued progress in three key areas: a mathematical understanding …
A review on robust control of robot manipulators for future manufacturing
J Son, H Kang, SH Kang - International Journal of Precision Engineering …, 2023 - Springer
Robots are used for many manufacturing tasks, and its prevalence in manufacturing is ever-
increasing. Robots in future manufacturing are expected to be valuable and essential tools …
increasing. Robots in future manufacturing are expected to be valuable and essential tools …
High-precision motion control techniques: A promising approach to improving motion performance
In this article, the state of the art on high-precision motion control techniques is surveyed by
referring to recent publications, mainly in the transactions and conferences of the …
referring to recent publications, mainly in the transactions and conferences of the …
Robust compliant motion control of robot with nonlinear friction using time-delay estimation
M Jin, SH Kang, PH Chang - IEEE Transactions on Industrial …, 2008 - ieeexplore.ieee.org
A simple robust compliant-motion-control technique is presented for a robot manipulator with
nonlinear friction. The control technique incorporates both time-delay-estimation technique …
nonlinear friction. The control technique incorporates both time-delay-estimation technique …
Modeling and identification of elastic robot joints with hysteresis and backlash
M Ruderman, F Hoffmann… - IEEE Transactions on …, 2009 - ieeexplore.ieee.org
This paper presents a novel approach to the modeling and identification of elastic robot
joints with hysteresis and backlash. The model captures the dynamic behavior of a rigid …
joints with hysteresis and backlash. The model captures the dynamic behavior of a rigid …
[HTML][HTML] Human-robot cooperative control system based on serial elastic actuator bowden cable drive in ExoArm 7-DOF upper extremity exoskeleton
The exoskeleton of the upper limb is an external parallel kinematic chain to the human arm.
The device is designed to apply a specific torque of interaction to the human body resulting …
The device is designed to apply a specific torque of interaction to the human body resulting …
Precision control and compensation of servomotors and machine tools via the disturbance observer
WS Huang, CW Liu, PL Hsu… - IEEE transactions on …, 2009 - ieeexplore.ieee.org
The computerized numerical control machine tool is a highly integrated mechatronic system
in manufacturing processes. However, uncertainties degrade its motion accuracy. These …
in manufacturing processes. However, uncertainties degrade its motion accuracy. These …
Dynamic parameter identification of serial robots using a hybrid approach
Y Huang, J Ke, X Zhang, J Ota - IEEE Transactions on Robotics, 2022 - ieeexplore.ieee.org
Model-based control can provide high-accuracy performance over position-based or velocity-
based control. Therefore, to employ model-based control in industrial robots, it is important …
based control. Therefore, to employ model-based control in industrial robots, it is important …
Modeling and control of a 3-DOF articulated robotic manipulator using self-tuning fuzzy sliding mode controller
Robotic manipulators are highly coupled multi-input multi-output (MIMO) nonlinear systems
with uncertainties and highly time-varying dynamic capabilities. These characteristics make …
with uncertainties and highly time-varying dynamic capabilities. These characteristics make …
Data-driven friction force prediction model for hydraulic actuators using deep neural networks
Hydraulic actuators convert fluid pressure into mechanical motion. They are widely used in
many industrial and aerospace applications due to their reliability, high speed, high force …
many industrial and aerospace applications due to their reliability, high speed, high force …