... tracking control performance of hydraulic legged robots, a high-performance foot trajectory tracking control method based on fixed-time disturbance observers for hydraulic legged robots is proposed. Design/methodology/approach First, the robot leg mechanical system model and hydraulic system model...

.... Therefore, this paper aims to propose a control method based on backstepping and disturbance observers for oscillation suppression. Design/methodology/approach This paper analyzes the mechanism of oscillation. The oscillation model of the spherical robot is constructed and the relationship between...

...-typed inspection. Finally, a disturbance observer (DOB) is used to estimate external disturbances and used as feedforward compensation. Findings The proposed AM can slowly approach the contact surface without significant impact in the contact phase. It can realize constant force control...

... rule was created to update uncertain parameters. In addition to this, disturbance observer was designed for slave robot. Lyapunov function was used to analyze the system’s position tracking and stability. A visual interface was designed to ensure that the movements of the master robot provided a visual...