This study presents the design of a hybrid active disturbance rejection controller (H-ADRC) which regulates the gait cycle of a worm bio-inspired robotic device (WBRD). The WBRD is designed as a full actuated six rigid link robotic manipulator. The controller considers the state restrictions in the device articulations; this means the maximum and minimum angular ranges. to avoid any p... https://www.ldartstudio.com/product-category/body-creams/