Abstract
Humanoid robots are extremely complex systems, where a multi-layer control architecture is necessary to guarantee a stable locomotion. In the lower layer, joint control has to track as finely as possible references provided by higher layers. A new approach to precisely control humanoid robot joints is presented in this paper. It is based on algebraic control techniques and on a model-free control philosophy. An online black-box identification 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.
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Villagra, J., Balaguer, C. (2009). An Algebraic Approach for Accurate Motion Control of Humanoid Robot Joints. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_72
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DOI: https://doi.org/10.1007/978-3-642-10817-4_72
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