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This paper aims to present an adaptive fuzzy sliding mode controller with nonlinear observer (AFSMCO) for the redundant robotic manipulator handling a varying payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused by the dynamic effect of the varying payload to robotic system caused by model uncertainties.

First, a suitable observer using the recursive algorithm is presented for an accurate estimation of external disturbances caused by a variable payload. Second, the adaptive fuzzy logic is designed to approximate the parameters of the sliding mode controller combined with nonlinear observer (SMCO) to avoid chattering in real time. Moreover, Lyapunov theory is applied to guarantee the stability of the proposed closed-loop robotic system. Finally, the effectiveness of the proposed control approach and theoretical discussion are proved by simulation results on a seven-link robot and demonstrated by a humanoid robot platform.

The varying payload leads to large variations in the dynamics of the manipulator and the tracking error. To achieve high-precision position tracking, nonlinear observer was introduced to feed into the sliding mode control (SMC) which had improved the ability to resist the external disturbance. In addition, the chattering caused by the SMC was eliminated by recursively approximating the switching gain with the usage of adaptive fuzzy logic. Therefore, a distributed control strategy solves the problems of an SMC implementation in improving its tracking performance and eliminating the chattering of the system control.

The AFSMCO is proposed for the first time and used to control the redundant robotic manipulator that handles the varying payload. The proposed control algorithm possesses better robustness and higher precision for the trajectory tracking than classical SMC.

Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope.

First, a virtual ground method (VGM) is proposed to give a continuous and intuitive zero-moment point (ZMP) on slopes. Then, the dynamic motion equations are derived based on 2D and 3D models, respectively, by using VGM. Furthermore, the waist posture with respect to the actual robot is analyzed. Finally, a reformative linear inverted pendulum (LIP) named the asymmetric linear inverted pendulum (ALIP) is proposed to achieve stable and dynamical walking in any direction on a slope with lower landing impact.

Simulations and experiments are carried out using the DRC-XT humanoid robot platform with the aim of verifying the validity and feasibility of these new methods. ALIP with consideration of waist posture is practical in extending the ability of walking on slopes for humanoid robots.

A generic method called ALIP for humanoid robots walking on slopes is proposed. ALIP is based on LIP and several changes, including model analysis, motion equations and ZMP functions, are discussed.

The purpose of this paper was to present a soft landing control strategy for a biped robot to avoid and absorb the impulsive reaction forces (which weakens walking stability) caused by the landing impact between the swing foot and the ground.

First, a suitable trajectory of the swing foot is preplanned to avoid the impulsive reaction forces in the walking direction. Second, the impulsive reaction forces of the landing impact are suppressed by the on-line trajectory modification based on the extended time-domain passivity control with admittance causality that has the reaction forces as inputs and the decomposed swing foot’s positions to trim off the forces as the outputs.

The experiment data and results are described and analyzed, showing that the proposed soft landing control strategy can suppress the impulsive forces and improve walking stability.

The main contribution is that a soft landing control strategy for a biped robot was proposed to deal with the impulsive reaction forces generated by the landing impact, which enhances walking stability.

Humanoid robots should have the ability of walking in complex environment and overcoming large obstacles in rescue mission. Previous research mainly discusses the problem of humanoid robots stepping over or on/off one obstacle statically or dynamically. As an extreme case, this paper aims to demonstrate how the robots can step over two large obstacles continuously.

The robot model uses linear inverted pendulum (LIP) model. The motion planning procedure includes feasibility analysis with constraints, footprints planning, legs trajectory planning with collision-free constraint, foot trajectory adapter and upper body motion planning.

The motion planning with the motion constraints is a key problem, which can be considered as global optimization issue with collision-free constraint, kinematic limits and balance constraint. With the given obstacles, the robot first needs to determine whether it can achieve stepping over, if feasible, and then the robot gets the motion trajectory for the legs, waist and upper body using consecutive obstacles stepping over planning algorithm which is presented in this paper.

The consecutive stepping over problem is proposed in this paper. First, the paper defines two consecutive stepping over conditions, sparse stepping over (SSO) and tight stepping over (TSO). Then, a novel feasibility analysis method with condition (SSO/TSO) decision criterion is proposed for consecutive obstacles stepping over. The feasibility analysis method’s output is walking parameters with obstacles’ information. Furthermore, a modified legs trajectory planning method with center of mass trajectory compensation using upper body motion is proposed. Finally, simulations and experiments for SSO and TSO are carried out by using the XT-I humanoid robot platform with the aim to verify the validity and feasibility of the novel methods proposed in this paper.

The purpose of this paper is to present a dual-mode online optimization method (OOM) for trajectory tracking of the redundant manipulators. This method could be used to resolve the problem of the kinematics redundancy effectively when the manipulator moves in a limited space or its movements go through a singular point.

In the proposed method, the physical limits of the manipulator in the torque level is considered as inequality constraints for the optimal scheme. Besides, a dual-mode optimal scheme is developed to yield a feasible input in each control period during the path tracking task of the manipulator, especially when it moves under the limited space or around the singular point. Then, the scheme is formulated as a quadratic programming; the computationally efficient quadratic programming solver based on interior method is formulated to solve the kinematic redundancy problem.

The traditional pseudo inverse method (PIM) for the kinematic resolution to the redundant manipulator has some limitations, such as slow computation speed, unable to take joint physical limits into consideration, etc. Relatively, the OOM could be used to conquer the deficits of the PIM method. Combining with the dual-mode optimal scheme and considering the physical constraints in the torque level, the online method proposed in this paper is more robust and efficient than the existing method.

In this paper, dual-mode OOM is first proposed for the resolution of the kinematics redundancy problem. Specific design of its model and the discussion of its performance are also presented in this paper.

This paper aims to determine a suitable anti-wear and friction-reducing compounding additive for lithium greases (LG) by investigating the effects of three single additives potassium borate (PB), zinc dialkyl dithiophosphate and molybdenum dialkyl dithiophosphate (MoDDP) and two compound additives on the friction, wear and extreme pressure properties of LG.

The effects of the above five additives on the friction, wear and extreme pressure properties of LG were investigated using an SRV-5 friction tester. An X-ray photoelectron spectrometer was used to analyze the various elements presented on the wear surface as well as the types of compounds.

The compound additive suitable for grease consists of PB and MoDDP, which have excellent friction reduction, anti-wear and extreme pressure properties. And a boundary protection film consisting of oxide and MoS₂ is formed on the friction surface, thus improving the friction reduction and anti-wear performance of the grease.

This study can improve the anti-wear and friction-reduction performance of greases, which is of great importance in the field of industrial lubrication. The results of this paper are expected to be useful to researchers and academics of grease.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-11-2022-0350/

Starting from the theoretical mechanism of profit sharing between finance and the real economy, this paper reviews and analyzes the profitability of China's banking industry and makes a horizontal comparison with the banking industry of the United States, Japan, and Germany.

Based on the panel threshold model, it is found that there is a dual-threshold asymmetric effect between banking profit and the growth of real economy. When the net profit rate of the banking industry is lower than 0.491%, the increase in banking profitability will inhibit the growth of real economy due to profit grabbing; when the rate falls within the range of 0.491–0.801%, the increase in bank profitability is conducive to the growth of real economy.

Finance and the real economy are in the most comfortable symbiotic state; when the rate is higher than 0.801%, the continued increase in bank profitability will weaken the promotion effect of finance on the real economy, but bank profitability and the growth of real economy are still in a symbiotic state of positive promotion.

The promotion effect of China's bank profitability to the growth of real economy has shifted from the suboptimal state to the optimal range as a whole, which is attributed to the strong deleveraging and strict supervision of the Chinese government after 2016, the timely and decisive “stepping on the brakes”, pulling the financial sector back from the “illusion” caused by “self-circulated” profits and preventing it from harming the real economy.

This paper aims to fill the academic gaps in the study of the new co‐operative movement in China and its innovative mechanisms, and to assess why new co‐operatives deviate from the orthodox co‐operative model represented by the standards of the International Cooperative Alliance (ICA).

As an alternative to the popular ideal‐co‐operative perspective, the paper employs a historical approach to understand the co‐operative renaissance in China. Afterwards, the paper presents an application as well as an example to reinforce this understanding and to demonstrate the validity of the analysis.

Using this approach, this paper demonstrates the formation process of real‐type co‐operatives under the influence of institutional legacies as well as resources and environments. Moreover, The shareholding co‐operatives have been developed as new co‐operative forms. They are characterized by their multiple stakeholdership, their multi‐purpose operations, and their orientation to the whole community.

The paper looks for the logic of the dynamics and evolution of the newly emerged co‐operatives, trying to explain their non‐compliance with the ICA standards. It analyses the bottom‐up institutional innovation process and the key role played by co‐operative entrepreneurs. Moreover, it contributes to understanding their hybrid form as a nexus of tensions. Therefore, it helps to explain some of the conceptual and practical difficulties that hamper the understanding of new co‐operative development in China.

Currently, in China, the governance structure of modern companies gives directors great powers to pursue profits. However, little attention is paid to the undertaking of corporate philanthropic activities. Therefore, rules on directors’ behavior in terms of corporate philanthropy are urgently needed to resolve the conflict between philanthropy and profits. This paper aims to discuss the main purpose of corporate philanthropy behavior in China, namely, the promotion of the company, and to analyze the theoretical mechanism for placing restrictions on directors’ behavior. The concepts and details of directors’ duty of loyalty and duty of diligence are also discussed.

The paper addresses the theoretical framework for the restriction of director behavior in corporate philanthropy in China, explains the legal dilemma for the current situation and analyzes the problems associated with the determination of board directors’ behavior.

It is concluded that board members should give priority to their duty of loyalty and comply with their faithful obligations in corporate philanthropy. They should also fulfill their diligence obligations and not cause inconvenience and trouble for the company.

Corporate philanthropy is well known as a beneficial activity to both the company and society. It not only helps to establish a good image of the company, which is in line with the interests of the shareholders and creditors, but also contributes to the development of social welfare. It is a topic worthy of deep discussion.

It is still very difficult to establish non-profit organizations because of stringent conditions on registration, organization and funding in China. Therefore, there are a limited number of independent non-governmental charitable organizations in China. Most charitable organizations have charitable expertise and government ties. Corporate philanthropy is a problem closely related to governmental administration and legal system renovation.

Recently, a young girl related to the Red Cross Society of China was found guilty and arrested. This scandal has made people lose their confidence in philanthropy and has caused another round of intense discussion online. Corporate philanthropy is the focus of criticism because individuals with power gain benefits by taking advantage of their position. It is a very challenging issue for the Chinese society as to how to restore the reputation of philanthropy.

This paper points out the weakness in the current legal system as a restrictive mechanism to supervise the board directors’ behaviors in China. It analyzes the corporate philanthropy issue from the national level and highlights the significance of supervising governmental administration and corporate management through the improvement of the legal system.

The implementation of the innovation-driven development strategy is of practical significance for improving the quality and efficiency of economic growth and accelerating the transformation of economic development mode. The purpose of this paper is to study the impact of innovation-driven strategies on marine industry agglomeration and industrial transformation.

In traditional grey correlation analysis, when the positive and negative areas cancel each other out during the integration process, the calculation result of the correlation degree is often inconsistent with the qualitative analysis. For this reason, from the perspective of curve similarity, this paper constructs two response curves through the relative change area of the two curves and the relative area change ratio of similar degree, thus constructing an improved grey relational model.

The authors find that the innovation investment has a better correlation with marine industrial agglomeration. It also found that Guangdong Province has the highest degree of correlation between innovation indicators and marine industrial agglomeration. Much beyond the authors’ expectation, in the areas where marine industrial agglomeration is high, the synergistic effect is not obvious by using the location entropy method.

The improved grey correlation analysis method can effectively overcome the phenomenon that the positive and negative areas cancel each other in the integration process of the original algorithm, and it can also effectively measure the negative correlation between variables. This paper explores the impact of innovation drive on the agglomeration of marine industries, which is of great significance to the sustainable development of marine economy.