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A robust control method for the elbow of the humanoid robot TEO based on a fractional order controller

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URI: https://hdl.handle.net/10016/29632
ISBN: 978-1-5386-8094-0
DOI: https://doi.org/10.1109/IROS.2018.8593732
UXXI: CC/0000030148
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robust_IROS_2018_ps.pdf (1.38 MB)
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2019-01-07
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IEEE
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Abstract
This paper presents a novel method for the control of the elbow joint of the humanoid robot TEO, based on a fractional order PD controller. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controller, offering very competitive results compared to classic methods. The experiments show a robust performance of the system to mass changes at the tip of the humanoid right arm.
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Proceeding of: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, Spain
Keywords
Gain, Humanoid robots, Tuning, Robustness, Elbow
Bibliographic citation
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Towards a robotic society], October 1-5, 2018, Madrid, Spain. IEEE, 2019, Pp. 6378-6383
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