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In this paper, aiming at solving the synchronous problem of multi-finger dexterous hand, we introduced the iterative learning control (ILC) algorithm into the control of the system's synchronous coupling error to ensure the synchronization between finger joints on the premise that the system have good performance. In addition, we introduce a Lyapunov-like composite energy function to analyse the stability...
This paper focuses on the control of hexapod locomotion based on a model of artificial central pattern generators (CPGs). CPG-based controllers are capable of producing coordinated patterns in open loops and rhythmic activities in certain joints. However, existing methods usually have too many parameters to set and lack unified expressions to achieve desired gaits for multiple legged robots. In this...
In allusion to the problem of inadequate motor drive ability and low efficiency in the current research on quadruped robot, this paper puts forward the use of coupling driving leg mechanism to establish quadruped robot and designs coupling driving hip joint of compound motion pattern. It can have compound motion at multiple angles as two motors in hip joint select different directions of rotation...
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