Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra

  • O. Carbajal-EspinosaEmail author
  • L. González-Jiménez
  • A. Loukianov
  • E. Bayro-Corrochano
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


The pose tracking problem for the 5 DOF (degrees of freedom) arm of a humanoid robot is studied. The kinematic and dynamic models of the manipulator are obtained using the conformal geometric algebra framework. Then, using the obtained models, the well known super-twisting algorithm, is used to design a controller in terms of the conformal geometric algebra for the pose tracking problem. Simulation shows the performance of the proposed controller with the conformal models for the tracking an object.


Kinematics modeling  Dynamic modeling  Super twisting algorithm  Conformal geometric algebra  Humanoid manipulator  


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • O. Carbajal-Espinosa
    • 1
    Email author
  • L. González-Jiménez
    • 2
  • A. Loukianov
    • 1
  • E. Bayro-Corrochano
    • 1
  1. 1.CINVESTAVDepartment of Electrical Engineering and Computer SciencesUnidad GuadalajaraMexico
  2. 2.ITESODepartment of Electronic, Systems and InformaticsTlaquepaqueMexico

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