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Author

Yang Mu

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Conference Jul 2026

Physics-Embedded Neural Feedback Linearization for Hydraulic Robot Joint Force Control with EKF Priors

While hydraulic robots excel in high load capacity and interference immunity, achieving precise force tracking is hindered by complex fluid dynamics, system nonlinearities, and time-varying disturbances. This paper introduces a Physics-Enhanced Neural Network (PENN) approach. This method employs an Extended Kalman Filt...

Yang Mu, Xu Li, Yi-Dian Hu et al. · 0 citations

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