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

Related authors

Realisation of model reference compliance control of a humanoid robot arm via integral sliding mode control
S. G. Khan and J. Jalani
Mech. Sci., 7, 1–8,,, 2016

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
A convolutional neural-network-based diagnostic framework for industrial bearing
Bowen Yu and Chunli Xie
Mech. Sci., 15, 87–98,,, 2024
Short summary
Design and analysis of a dual-rope crawler rope-climbing robot
Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, and Juan Huang
Mech. Sci., 15, 31–45,,, 2024
Short summary
Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains
Yu Rong, Xingchao Zhang, Tianci Dou, and Hongbo Wang
Mech. Sci., 14, 567–577,,, 2023
Short summary
Motion planning and control strategy of a cable-driven body weight support gait training robot
Tao Qin, Qianpeng Wang, Wei Su, Chao Wei, Yanduo Zhang, and Jianwei Zhang
Mech. Sci., 14, 413–427,,, 2023
Short summary
Optimal resource allocation method and fault-tolerant control for redundant robots
Yu Rong, Tianci Dou, and Xingchao Zhang
Mech. Sci., 14, 399–412,,, 2023
Short summary

Cited articles

Ahmad, S., Uppal, A., Azam, M., and Iqbal, J.: Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process, Electronics, 12, 876, 2023. a
Ahmad Taher Azar, Q. Z. (Ed.): Advances and Applications in Sliding Mode Control systems, Springer, ISBN 978-3319111728,, 2015. a, b, c, d
Anjum, M., Khan, Q., Ullah, S., Hafeez, G., Fida, A., Iqbal, J., and Albogamy, F.: Maximum Power Extraction from a Standalone Photo Voltaic System via Neuro-Adaptive Arbitrary Order Sliding Mode Control Strategy with High Gain Differentiation, Appl. Sci.-Basel, 44, 2773,, 2022. a, b
Bucak, İ. Ö.: An In-Depth Analysis of Sliding Mode Control and Its Application to Robotics, in: Automation and Control, chap. 8, edited by: Voloşencu, C., Küçük, S., Guerrero, J., and Valero, O., IntechOpen, Rijeka,, 2020. a, b
Chen, G., Song, Y., and Lewis, F.: Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults, IEEE T. Cybernetics, 47, 1706–1718, 2017. a, b
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.