Operations involving safe interactions in unstructured environments require robots with
adapting behaviors. Compliant manipulators are a promising technology to achieve this …

The swing-up is a classical problem of control theory that has already been widely studied in
the literature. Despite that, swinging up an underactuated compliant arm considerably …

Soft robots can execute tasks with safer interactions. However, control techniques that can
effectively exploit the systems' capabilities are still missing. Differential dynamic …

In this paper, we study the trajectory tracking problem using iterative learning control for
continuous-time nonlinear systems with a generic fixed relative degree in the presence of …

Online-Offline Iterative Learning Control provides an effective and robust solution to learn
precise trajectory tracking when dealing with repetitive tasks. Yet, these algorithms were …

This paper proposes a practical and efficient control scheme for serial link flexible robot arm
using the sliding mode control, reaching phase elimination and uncertainty disturbance …