Actuator failures 1 Actuators 1 Anthropomorphic robots Chaos control 1 Controllers 1 Degrees of freedom (mechanics) 1 End effectors 1 Fault tolerance 1 Fault tolerant schemes 1 Human robot interaction 1 Human robots 1 Humanoid interaction 1 Humanoid robot arm 1 Joint actuators 1 Physical interactions 1 Proportional-derivative controllers 1 Robotic arms 1 Sliding mode control 1 Sliding mode controller 1