Fuzzy-Sliding Mode Control for Humanoid Arm Robots Actuated by Pneumatic Artificial Muscles With Unidirectional Inputs, Saturations, and Dead Zones.
Dingkun LiangNing SunYiming WuGendi LiuYongchun FangPublished in: IEEE Trans. Ind. Informatics (2022)
Keyphrases
- degrees of freedom
- joint space
- humanoid robot
- force control
- tactile sensing
- motion planning
- robotic arm
- robot arm
- manipulation tasks
- mobile robot
- multi robot
- end effector
- bi directional
- control law
- robotic systems
- robot manipulators
- closed loop
- autonomous robots
- path planning
- human robot
- cooperative
- pose estimation
- multi modal
- human robot interaction
- open loop
- motion capture
- multiple robots
- search and rescue
- layout design
- control system
- robotic agents
- real time
- collision free
- control strategy
- contact force
- input data
- human arm