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Adding extra sensitivity to the SMART non‐linear actuator using sensor fusion
(Industrial Robot: The International Journal Of Robotics Research And Application, 03/01/2004)
The prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control systems ...
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...
Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain
Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the ...