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eess.SY2022
Application of Event-Triggered Sliding Mode Control of 2-DOF Humanoid's Lower-Limb Powered by Series Elastic Actuator
Anh Khoa Lanh Luu, Van Tu Duong, Huy Hung Nguyen +1
This paper proposes an event-triggered sliding mode control (SMC) scheme combined with a backstepping algorithm for control of 2-DOF humanoid's lower-limb powered by Series elastic…
cs.RO2022
Hybrid Adaptive Control for Series Elastic Actuator of Humanoid Robot
Anh Khoa Lanh Luu, Van Tu Duong, Huy Hung Nguyen +2
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffn…