Fuzzy-Sliding Mode Control for Humanoid Arm Robots Actuated by Pneumatic Artificial Muscles With Unidirectional Inputs, Saturations, and Dead Zones

Recently, the pneumatic artificial muscle (PAM) that can reproduce natural muscle functionalities has become one of the core actuator mechanisms of intelligent interactive soft robots. Unfortunately, some inherent defects (e.g., unignorable nonlinearities, hysteresis, low shrinkage frequencies, etc....

Ausführliche Beschreibung