Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 1
Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-209-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-209-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 1
Research article
 | 
26 Apr 2023
Research article |  | 26 Apr 2023

Adaptive chaos control of a humanoid robot arm: a fault-tolerant scheme

Said Ghani Khan

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Latest update: 30 Oct 2025
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Short summary
Humanoid robots are stepping into the social environment. However, smooth and safe operation is still a challenge. Faults in robotics, whether mechanical or electrical, are still inevitable. In this work, we present a fault-tolerant scheme for a humanoid robotic arm, to minimize the damage if a joint fails during normal operation or during human–robot interaction or cooperation.
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