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Many robotic applications involve the tasks in which multiple coordinated mobile manipulators system interacts with rigid or non-rigid environments. In this study, we study the topic of multiple mobile manipulators grasping a rigid common object in contact with a deformable working environment, for which few investigations have been made. To solve the difficulty.We first develop the decentralised...
This paper presents a structure of robust adaptive control for biped robots, which includes balancing and posture control for regulating the centre-of-mass (COM) position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of COM and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional...
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