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This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics,...
An anti-ejection control strategy was proposed for the characteristics of underactuated prosthetic hand grasping process. The reference position can be calculated and the stiffness of objects can be estimated by the feedback signals of force and position. When the driving joint approaches the reference position and the actual grasp force does not reach the desired value, which means that the ejection...
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