Next Article in Journal
A Temperature-Based Statistical Model for Real-Time Thermal Deformation Prediction in End-Milling of Complex Workpiece
Previous Article in Journal
Two-Stage Harmonic Optimization-Gram Based on Spectral Amplitude Modulation for Rolling Bearing Fault Diagnosis
Previous Article in Special Issue
Generalized Design Methodology for Dual-Arm Robotic Platforms: From Conceptualization to Experimental Validation Within the MANiBOT Framework
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Machines
Volume 14
Issue 1
10.3390/machines14010084
machines-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Design and Experimental Validation of an Adaptive Robust Control Algorithm for a PAM-Driven Biomimetic Leg Joint System

by
Feifei Qin
1,
Zexuan Liu
1,
Yuanjie Xian
2,
Binrui Wang
1,
Qiaoye Zhang
3 and
Ye-Hwa Chen
4,*
1
College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
2
School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China
3
Department of Clinical Medical Engineering, Zhejiang Provincial People’s Hospital (Affiliated People’s Hospital), Hangzhou Medical College, Hangzhou 310058, China
4
The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30318, USA
*
Author to whom correspondence should be addressed.
Machines 2026, 14(1), 84; https://doi.org/10.3390/machines14010084 (registering DOI)
Submission received: 10 December 2025 / Revised: 2 January 2026 / Accepted: 6 January 2026 / Published: 9 January 2026
(This article belongs to the Special Issue Recent Developments in Machine Design, Automation and Robotics, Second Edition)
Versions Notes

Abstract

Biomimetic quadruped robots, inspired by the musculoskeletal systems of animals, employ pneumatic artificial muscles (PAMs) as compliant actuators to achieve flexible, efficient, and adaptive locomotion. This study focuses on a pneumatic artificial muscle (PAM)-driven biomimetic leg joints system. First, its kinematic and dynamic models are established. Next, to address the challenges posed by the strong nonlinearities and complex time-varying uncertainties inherent in PAMs, an adaptive robust control algorithm is proposed by employing the Udwadia controller. Rigorous theoretical analysis of the adaptive robust control algorithm is verified via the Lyapunov stability method. Finally, numerical simulations and hardware experiments are conducted on the PAM-driven biomimetic leg joints system under desired trajectories, where the adaptive robust control algorithm is systematically compared with three conventional control algorithm to evaluate its control performance. The experimental results show that the proposed controller achieves a maximum tracking error of within 0.05 rad for the hip joint and within 0.1 rad, highlighting its strong potential for practical deployment in real-world environments.
Keywords: biomimetic robots; adaptive control algorithm; uncertainties; Udwadia controller biomimetic robots; adaptive control algorithm; uncertainties; Udwadia controller

Share and Cite

MDPI and ACS Style

Qin, F.; Liu, Z.; Xian, Y.; Wang, B.; Zhang, Q.; Chen, Y.-H. Design and Experimental Validation of an Adaptive Robust Control Algorithm for a PAM-Driven Biomimetic Leg Joint System. Machines 2026, 14, 84. https://doi.org/10.3390/machines14010084

AMA Style

Qin F, Liu Z, Xian Y, Wang B, Zhang Q, Chen Y-H. Design and Experimental Validation of an Adaptive Robust Control Algorithm for a PAM-Driven Biomimetic Leg Joint System. Machines. 2026; 14(1):84. https://doi.org/10.3390/machines14010084

Chicago/Turabian Style

Qin, Feifei, Zexuan Liu, Yuanjie Xian, Binrui Wang, Qiaoye Zhang, and Ye-Hwa Chen. 2026. "Design and Experimental Validation of an Adaptive Robust Control Algorithm for a PAM-Driven Biomimetic Leg Joint System" Machines 14, no. 1: 84. https://doi.org/10.3390/machines14010084

APA Style

Qin, F., Liu, Z., Xian, Y., Wang, B., Zhang, Q., & Chen, Y.-H. (2026). Design and Experimental Validation of an Adaptive Robust Control Algorithm for a PAM-Driven Biomimetic Leg Joint System. Machines, 14(1), 84. https://doi.org/10.3390/machines14010084

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop