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Yongyong Zhao, Jinghua Wang, Guohua Cao and Xu Yao
This study introduces a reduced-order leg dynamic model to simplify the controller design and enhance robustness. The proposed multi-loop control scheme tackles tracking control issues in legged robots, including joint angle and contact-force regulation,...
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Donglai Zhao, Wenjie Ge, Xiaojuan Mo, Yuzhu Li and Zhuo Wang
Due to the high power-to-weight ratio and robustness, hydraulic cylinders are widely used in the actuation area of the legged robot systems. Most of these applications are focused on the motion stability, gait planning, and impedance control. However, th...
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Hongwen Zhang and Zhanxia Zhu
Motion planning is one of the most important technologies for free-floating space robots (FFSRs) to increase operation safety and autonomy in orbit. As a nonholonomic system, a first-order differential relationship exists between the joint angle and the ...
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Yan Zeng, Jiantao Yang and Yuehong Yin
As one of the most direct indicators of the transparency between a human and an exoskeleton, interactive force has rarely been fused with electromyography (EMG) in the control of human-exoskeleton systems, the performances of which are largely determined...
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Nurhidayah Omar, Maurice R. Yeadon and Mark A. King
Efficient throwing mechanics is predicated on a pitcher?s ability to perform a sequence of movements of body segments, which progresses from the legs, pelvis, and trunk to the smaller, distal arm segments. Each segment plays a vital role in achieving max...
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