Purpose The computing power of the legged robot is not enough to perform high-frequency updates for the full-body model predictive control (MPC) of the robot, which is a common problem encountered in the gait research of the legged robot. The purpose of this paper is to propose a high-frequency...

Purpose Due to dynamic model is the basis of realizing various robot control functions, and it determines the robot control performance to a large extent, this paper aims to improve the accuracy of dynamic model for n -Degree of Freedom (DOF) serial robot. Design/methodology/approach This paper...

Purpose In corridor environments, human-following robot encounter difficulties when the target turning around at the corridor intersections, as walls may cause complete occlusion. This paper aims to propose a collision-free following system for robot to track humans in corridors without a prior...

Purpose This paper aims to use redundant manipulators to solve the challenge of collision avoidance in construction operations such as welding and painting. Design/methodology/approach In this paper, a null-space-based task-priority adjustment approach is developed to avoid collisions. The...

Purpose This study aims to present a type of metamorphic mechanism-based quadruped crawling robot. The trunk design of the robot has a metamorphic mechanism, which endows it with excellent crawling capability and adaptability in challenging environments. Design/methodology/approach The robot...

Purpose This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary....

Purpose Proper platform pose is important for the mobile manipulator to accomplish dexterous manipulation tasks efficiently and safely, and the evaluation criterion to qualify manipulation performance is critical to support the pose decision process. This paper aims to present a comprehensive...

Purpose To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based on the fuzzy impedance controller of the rehabilitation robot is propose. Design/methodology/approach First,...

Purpose The purpose of this paper is to solve the problem that mobile robots are still based on reactive collision avoidance in unknown dynamic environments leading to a lack of interaction with obstacles and limiting the comprehensive performance of mobile robots. A dynamic window approach with...

Purpose This paper aim to solve the problem of low assembly success rate for 3c assembly lines designed based on classical control algorithms due to inevitable random disturbances and other factors,by incorporating intelligent algorithms into the assembly line, the assembly process can be...