The walking ability is a fundamental research for biped robots, and there always needs to be
a criterion used for judging the walking stability. The zero moment point (ZMP) criterion is …

In this paper, we consider iterative learning control for trajectory tracking of robotic
manipulator with uncertainty. An improved quadratic-criterion-based iterative learning …

In many applications industrial robots perform the same motion repeatedly. One way of
compensating the repetitive part of the error is by using iterative learning control (ILC). The …

For robots with joint elasticity, discrepancies exist between the motor side and the load side
(eg, the link of the robotic joint). Thus, the load side (end-effector) performance can hardly be …

A framework for iterative learning control (ILC) is proposed for the situation when an ILC
algorithm uses an estimate of the controlled variable obtained from an observer‐based …

A batch process is characterized by the repetition of time-varying operations of finite
duration. Due to the repetition, there are two independent “time” variables, namely, the run …

This paper investigates methods for tool position estimation of industrial robots. It is
assumed that the motor angular position and the tool acceleration are measured. The …

The norm-optimal iterative learning control (ilc) algorithm for linear systems is extended to
an estimation-based norm-optimal ilc algorithm where the controlled variables are not …

The performance of a non-linear filter hinges in the end on the accuracy of the assumed non-
linear model of the process. In particular, the process noise covariance Q is hard to get by …

Humanoid robot has a structure that can be shaped or moved like a human, but in order to
walk like a human, it needs to be given the controller to correct the posture and gait on the …