In this paper a method of controller design for FJRs considering actuator saturation and other practical limitations is proposed. In the proposed method the need of powerful actuator is skipped over by decreasing the bandwidth of the fast controller during critical times. In order to accomplish this, a supervisory control is employed which uses fuzzy logic to adjust the proper forward path gain...

A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually compensates for joint friction phenomena, thus removing their inherent stabilising property that may be also beneficial for high level control objectives. This paper...

In this paper the contr ol of exible joint manipulators is studie d in detail A composite contr ol algorithm is pro posed for the exible joint robots which consists of two main parts Fast contr ol uf which guar antees that the fast dynamics remains asymptotically stable and the corre sponding integral manifold remains invariant Slow control us itself consists of a robust PID designed based on t...

An adaptive controller is presented in this paper to control an n-link flexible-joint manipulator with time-varying uncertainties. The function approximation technique (FAT) is utilized to represent time-varying uncertainties in some finite combinations of orthogonal basis. The tedious computation of the regressor matrix needed in traditional adaptive control is avoided in the new design, and t...

Metamorphic robots with shape-changing capabilities provide a powerful and flexible approach to complex tasks in unstructured environments. However, due to their dynamic topology and decentralized configuration, metamorphic robots demand control mechanisms that go beyond those used by conventional robots. This paper builds on our previous results of hormone-based control, and develops a novel d...

Almost all present control strategies for electrically-driven robots are under the rigid robot assumption. Few results can be found for the control of electrically driven robots with joint flexibility. This is because the presence of the joint flexibility greatly increases the complexity of the system dynamics. What is worse is when some system dynamics are not available and a good performance ...

The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots’ kinematics. In this paper we exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular, we show how to transform human motio...