LAUSR

Adaptive composite neural network disturbance observer-based dynamic surface control for electrically driven robotic manipulators

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0 Published in 2021 at "Neural Computing and Applications"

DOI: 10.1007/s00521-020-05391-8

Abstract: This paper presents an adaptive backstepping control scheme for electrically driven robotic manipulator (EDRM) system with uncertainties and external disturbances by using neural network disturbance observer (NNDO) and dynamic surface control (DSC) design technique. NNDO is employed to… read more here.

Keywords: network disturbance; control; disturbance observer; driven robotic ... See more keywords

Highly Dynamic 2-DOF Cable-Driven Robotic Wrist Based on a Novel Topology

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1 Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3159816

Abstract: This letter presents a highly dynamic cable-driven robotic wrist with two degrees of freedom (DOFs). It is based on a novel topology that combines three passive cables for kinematic constraint and the minimal number of… read more here.

Keywords: highly dynamic; wrist; topology; cable driven ... See more keywords

Locomotion Optimization of a Tendon-Driven Robotic Fish With Variable Passive Tail Fin

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2 Published in 2023 at "IEEE Transactions on Industrial Electronics"

DOI: 10.1109/tie.2022.3189093

Abstract: This article explores a set of locomotion optimization methods for a novel tendon-driven robotic fish. With the typical features of the dual tendon driving active tail and variable stiffness passive caudal fin, a fully functioning… read more here.

Keywords: locomotion; driven robotic; robotic fish; locomotion optimization ... See more keywords

Simulating Underwater Human Motions on the Ground With a Cable-Driven Robotic Platform

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2 Published in 2023 at "IEEE Transactions on Robotics"

DOI: 10.1109/tro.2022.3197338

Abstract: Human performance and body motions when submerged underwater are highly influenced by buoyancy forces. In this article, we simulate the effect of buoyancy on human motion over ground by using a cable-driven robotic system. The… read more here.

Keywords: driven robotic; cable; ground; robotic platform ... See more keywords

Research on design, modeling, and maneuverability analysis of hybrid-driven robotic fish

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0 Published in 2025 at "Frontiers in Marine Science"

DOI: 10.3389/fmars.2025.1648335

Abstract: Hybrid-driven robotic fish combines the maneuverability of propeller propulsion with the efficiency of biomimetic fin propulsion, offering potential advantages in underwater exploration and robotic applications. This paper presents the design and development of a hybrid-driven… read more here.

Keywords: maneuverability; robotic fish; driven robotic; design ... See more keywords