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Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism
Liu Z.; Chen C.; Zhang Y.; Chen C.L.P.
2015
Source PublicationIEEE Transactions on Cybernetics
ISSN21682267
Volume45Issue:3Pages:521
AbstractTo achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small. © 2013 IEEE.
KeywordDual-arm coordination humanoid robot motion/force neural network unknown output nonlinearity
DOI10.1109/TCYB.2014.2329931
URLView the original
Language英语
The Source to ArticleScopus
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Citation statistics
Cited Times [WOS]:95   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Recommended Citation
GB/T 7714
Liu Z.,Chen C.,Zhang Y.,et al. Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism[J]. IEEE Transactions on Cybernetics,2015,45(3):521.
APA Liu Z.,Chen C.,Zhang Y.,&Chen C.L.P..(2015).Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.IEEE Transactions on Cybernetics,45(3),521.
MLA Liu Z.,et al."Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism".IEEE Transactions on Cybernetics 45.3(2015):521.
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