The prime challenge in a humanoid robot is its stability on two feet due to the presence of an
underactuated system. In this paper, the complete dynamics of the humanoid robot has been …

An adaptive computed torque (ACT) controller in the task space is proposed for the trajectory
tracking of a parallel manipulator with redundant actuation. The dynamic model, including …

There are wide applications of the parallel manipulators in the industry field because of the
high speed and accuracy, but difficulties are also unavoidable in the controlling process for …

This paper presents a systematic procedure for the elastodynamic modeling of industrial
robots that is applicable to either serial or parallel manipulators. This procedure is based on …

Nonlinear vibration control systems (both passive and active) always involve parameter
design and performance optimization tasks. A systematic and novel frequency-domain …

This paper focuses on the adaptive finite-time neural network control problem for nonlinear
stochastic systems with full state constraints. Adaptive controller and adaptive law are …

The article presents the inverse dynamics model of a novel translating parallel machine and
proposes the structure of a force controller for the execution of tasks characterised by …

This article presents a robust optimal output-tracking control strategy for underactuated
mechanical systems whose motion is restricted by mixed holonomic and nonholonomic …

In this paper, we generalize the idea of the free-body diagram for analytical mechanics for
representations of mechanical systems in configuration space. The configuration space is …

The paper investigates the motion planning of a suspended service robot platform equipped
with ducted fan actuators. The platform consists of an RRT robot and a cable suspended …