Design of a Humanoid Upper-Body Robot and Trajectory Tracking Control via ZNN with a Matrix Derivative Observer

Humanoid robots have attracted considerable attention for their anthropomorphic structure, extended workspace, and versatile capabilities. This paper presents a novel humanoid upper-body robotic system comprising a pair of 8-degree-of-freedom (DOF) arms, a 3-DOF head, and a 3-DOF torso—yielding a 22...

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Hlavní autoři:	Hong Yin, Hongzhe Jin, Yuchen Peng, Zijian Wang, Jiaxiu Liu, Fengjia Ju, Jie Zhao
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2025-08-01
Edice:	Biomimetics
Témata:	humanoid robot upper-body design trajectory tracking zeroing neural network (ZNN) matrix derivative observer
On-line přístup:	https://www.mdpi.com/2313-7673/10/8/505
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