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

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.authorVillagrá Serrano, Jorge
dc.date.accessioned2014-06-17T09:39:10Z
dc.date.available2014-06-17T09:39:10Z
dc.date.issued2011-03
dc.description.abstractA 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 toparameter variations will be analyzed and compared to other advanced PID-based controllers. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the closed-loop system. Furthermore, a locomotion task will be tested in a complete humanoid simulatorto highlight the suitability of this control approach for such complex systems.es
dc.description.sponsorshipThis work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid.es
dc.description.statusPublicado
dc.format.extent19 p.es
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationInternational Journal of Humanoid Robotics (2011), 8(1), 27–46es
dc.identifier.doi10.1142/S0219843611002332
dc.identifier.issn0219-8436 (Print)
dc.identifier.issn1793-6942 (Online)
dc.identifier.publicationfirstpage27es
dc.identifier.publicationissue1es
dc.identifier.publicationlastpage46es
dc.identifier.publicationtitleInternational Journal of Humanoid Roboticses
dc.identifier.publicationvolume8es
dc.identifier.urihttps://hdl.handle.net/10016/19004
dc.identifier.uxxiAR/0000009152
dc.language.isoenges
dc.publisherWorld Scientifices
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 IIes
dc.relation.publisherversionhttp://dx.doi.org/10.1142/S0219843611002332es
dc.rights© 2011 World Scientific Publishing Companyes
dc.rights.accessRightsopen accesses
dc.subject.ecienciaRobótica e Informática Industrialen
dc.subject.otherHumanoid robotsen
dc.subject.otherModel-free controlen
dc.subject.otherJoint motion controlen
dc.titleA Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotionen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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