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

ABSTRACT: 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-DOF architecture inspired by human biomechanics and implemented via standardized hollow joint modules. To overcome the critical reliance of zeroing neural network (ZNN)-based trajectory tracking on the Jacobian matrix derivative, we propose an integration-enhanced matrix derivative observer (IEMDO) that incorporates nonlinear feedback and integral correction. The observer is theoretically proven to ensure asymptotic convergence and enables accurate, real-time estimation of matrix derivatives, a

SUBMITTER: Yin H 

PROVIDER: S-EPMC12383508 | biostudies-literature | 2025 Aug

REPOSITORIES: biostudies-literature