{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T12:21:53Z","timestamp":1767183713336,"version":"3.40.3"},"publisher-location":"Berlin, Heidelberg","reference-count":16,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642232312"},{"type":"electronic","value":"9783642232329"}],"license":[{"start":{"date-parts":[[2011,1,1]],"date-time":"2011-01-01T00:00:00Z","timestamp":1293840000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011]]},"DOI":"10.1007\/978-3-642-23232-9_27","type":"book-chapter","created":{"date-parts":[[2011,8,24]],"date-time":"2011-08-24T06:57:44Z","timestamp":1314169064000},"page":"299-310","source":"Crossref","is-referenced-by-count":4,"title":["Task Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERT II Arm with Posture Control"],"prefix":"10.1007","author":[{"given":"Said Ghani","family":"Khan","sequence":"first","affiliation":[]},{"given":"Jamaludin","family":"Jalani","sequence":"additional","affiliation":[]},{"given":"Guido","family":"Herrmann","sequence":"additional","affiliation":[]},{"given":"Tony","family":"Pipe","sequence":"additional","affiliation":[]},{"given":"Chris","family":"Melhuish","sequence":"additional","affiliation":[]}],"member":"297","reference":[{"issue":"5","key":"27_CR1","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1007\/s00371-005-0284-4","volume":"21","author":"V. Sapio De","year":"2005","unstructured":"De Sapio, V., Khatib, O., Delp, S.: Simulating the task level control of human motion: a methodology and framework for implementation. The Visual Computer\u00a021(5), 289\u2013302 (2005)","journal-title":"The Visual Computer"},{"key":"27_CR2","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1007\/s00202-007-0073-3","volume":"90","author":"I. Eker","year":"2008","unstructured":"Eker, I., Akinal, S.: Sliding mode control with integral augmented sliding surface: design and experimental application to an electromechanical system. Electrical Engineering (Archiv fur Elektrotechnik)\u00a090, 189\u2013197 (2008)","journal-title":"Electrical Engineering (Archiv fur Elektrotechnik)"},{"key":"27_CR3","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1007\/s10957-006-9045-4","volume":"129","author":"G. Herrmann","year":"2006","unstructured":"Herrmann, G., Spurgeon, S., Edwards, C.: On robust, multi-input sliding-mode based control with a state-dependent boundary layer. Journal of Optimization Theory and Applications\u00a0129, 89\u2013107 (2006)","journal-title":"Journal of Optimization Theory and Applications"},{"key":"27_CR4","unstructured":"Jalani, J., Herrmann, G., Melhuish, C.: Concept for robust compliance control of robot fingers. In: 11th Conference Towards Autonomous Robotic Systems, Plymouth, UK, pp. 97\u2013102 (2010)"},{"key":"27_CR5","doi-asserted-by":"crossref","unstructured":"Jalani, J., Herrmann, G., Melhuish, C.: Robust trajectory following for underactuated robot fingers. In: UKACC International Conference on Control, Conventry, UK (September 2010)","DOI":"10.1049\/ic.2010.0332"},{"key":"27_CR6","doi-asserted-by":"crossref","unstructured":"Khan, S., Herrmann, G., Pipe, T., Melhuish, C.: Adaptive multi-dimensional compliance control of a humanoid robotic arm with anti-windup compensation. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2218\u20132223 (2010)","DOI":"10.1109\/IROS.2010.5649128"},{"key":"27_CR7","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1007\/s12369-010-0058-7","volume":"2","author":"S.G. Khan","year":"2010","unstructured":"Khan, S.G., Herrmann, G., Pipe, T., Melhuish, C., Spiers, A.: Safe adaptive compliance control of a humanoid robotic arm with anti-windup compensation and posture control. International Journal of Social Robotics\u00a02, 305\u2013319 (2010)","journal-title":"International Journal of Social Robotics"},{"issue":"1","key":"27_CR8","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","volume":"RA3","author":"O. Khatib","year":"1987","unstructured":"Khatib, O.: A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Jounrnal of Robotics and Automation\u00a0RA3(1), 43\u201353 (1987)","journal-title":"IEEE Jounrnal of Robotics and Automation"},{"key":"27_CR9","unstructured":"Makoto, Y., Gyu-Nam, K., Masahiko, T.: Integral sliding mode control with anti-windup compensation and its application to a power assist system. Journal of Vibration and Control (2009)"},{"issue":"1","key":"27_CR10","doi-asserted-by":"publisher","first-page":"513","DOI":"10.1017\/S0263574700002800","volume":"18","author":"B. Nemec","year":"2000","unstructured":"Nemec, B., Zlajpah, L.: Null space velocity control with dynamically consistent pseudo-inverse. Robotica\u00a018(1), 513\u2013518 (2000)","journal-title":"Robotica"},{"key":"27_CR11","doi-asserted-by":"publisher","first-page":"1537","DOI":"10.1080\/00207170701749881","volume":"81","author":"J. Shi","year":"2008","unstructured":"Shi, J., Liu, H., Bajcinca, N.: Robust control of robotic manipulators based on integral sliding mode. International Journal of Control\u00a081, 1537\u20131548 (2008)","journal-title":"International Journal of Control"},{"key":"27_CR12","volume-title":"Applied Nonlinear Control","author":"J.J.E. Slotine","year":"1991","unstructured":"Slotine, J.J.E., Li, W.: Applied Nonlinear Control. Pearson Prentice Hall, Upper Saddle River (1991)"},{"key":"27_CR13","unstructured":"Spiers, A., Herrmann, G., Melhuish, C.: Implementing discomfort in operational space: Practical application of a human motion inspired robot controller. In: TAROS Conference: Towards Autonomous Robotic Systems (August 2009)"},{"key":"27_CR14","doi-asserted-by":"crossref","unstructured":"Spiers, A., Herrmann, G., Melhuish, C., Pipe, T., Lenz, A.: Robotic implementation of realistic reaching motion using a sliding mode\/operational space controller. In: Edwards, S.H., Kulczycki, G. (eds.) ICSR 2009. LNCS, vol.\u00a05791, pp. 230\u2013238. Springer, Heidelberg (2009)","DOI":"10.1007\/978-3-642-03983-6_27"},{"issue":"5","key":"27_CR15","doi-asserted-by":"publisher","first-page":"1107","DOI":"10.1080\/00207179308934433","volume":"57","author":"S.K. Spurgeon","year":"1993","unstructured":"Spurgeon, S.K., Davies, R.: A nonlinear control strategy for robust sliding mode performance in the presence of unmatched uncertainty. International Journal of Control\u00a057(5), 1107\u20131123 (1993)","journal-title":"International Journal of Control"},{"key":"27_CR16","doi-asserted-by":"crossref","unstructured":"Utkin, V., Shi, J.: Integral sliding mode in systems operating under uncertainty conditions. In: Proceedings of the 35th IEEE Decision and Control, vol.\u00a04, pp. 4591\u20134596 (1996)","DOI":"10.1109\/CDC.1996.577594"}],"container-title":["Lecture Notes in Computer Science","Towards Autonomous Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-23232-9_27","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,9]],"date-time":"2025-03-09T06:03:28Z","timestamp":1741500208000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-23232-9_27"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011]]},"ISBN":["9783642232312","9783642232329"],"references-count":16,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-23232-9_27","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2011]]}}}