Adaptive chaos control of a humanoid robot arm: a fault-tolerant scheme
Safety in human-robot physical interaction and cooperation is of paramount interest. In this work, a human-humanoid interaction and cooperation scenario is considered. The robot arm is controlled by a proportional derivative (PD) controller in combination with an inherently fault-tolerant sliding-mo...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2023
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| Online Access: | View Fulltext in Publisher |