A Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotion

  title={A Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotion},
  author={Jorge Villagra and Carlos Balaguer},
  journal={I. J. Humanoid Robotics},
A new model-free approach to precisely control humanoid robot joints is presented in this article. An input–output online identification procedure will permit to compensate neglected or uncertain dynamics, such as, on the one hand, transmission and compliance nonlinear effects, and, on the other hand, network transmission delays. Robustness to parameter variations will be analyzed and compared to other advanced PID-based controllers. Simulations will show that not only good tracking quality can… CONTINUE READING
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J. Villagra, B. Dandra-Novel, S. Choi, M. Fliess, H. Mounier