Application of Lyapunov-like methodology for a humanoid robot tracking in task space

Abstract

A new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors. Based on Lyapunov-like methodology, controllers in task space were constructed which had a robust effect different from common results, the obtained controllers not only guarantee tracking stability within a finite prescribed time, but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance. Numerical simulation results were given to illustrate the proposed methods.