... encoders and torque transducers are expensive. Because of joint flexibility and resulted slow response rate, control performance of these manipulators is very limited. Based on this, the purpose of this paper is to use easy-to-install and cheap accelerometers to improve control performance...

... adjustment, to which an external neural oscillator is added, which is responsible for oscillator amplitude adjustment, to control foot depth to balance itself when treading on an obstacle. Design/methodology/approach – It is equipped with a triaxial accelerometer and a triaxial gyroscope to obtain...