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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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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorMuñoz Yáñez-Barnuevo, Jorge
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorMartín Monar, Fernando
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2020-02-05T11:47:11Z
dc.date.available2020-02-05T11:47:11Z
dc.date.issued2019-01-07
dc.descriptionProceeding of: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, Spainen
dc.description.abstractThis 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.en
dc.description.sponsorshipThe research leading to these results has received funding from the HUMASOFT project, with reference DPI2016-75330-P, funded by the Spanish Ministry of Economy and Competitiveness.en
dc.format.extent6es
dc.identifier.bibliographicCitation2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Towards a robotic society], October 1-5, 2018, Madrid, Spain. IEEE, 2019, Pp. 6378-6383en
dc.identifier.doihttps://doi.org/10.1109/IROS.2018.8593732
dc.identifier.isbn978-1-5386-8094-0
dc.identifier.publicationfirstpage6378es
dc.identifier.publicationlastpage6383es
dc.identifier.publicationtitle2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Towards a robotic society], October 1-5, 2018, Madrid, Spainen
dc.identifier.urihttps://hdl.handle.net/10016/29632
dc.identifier.uxxiCC/0000030148
dc.language.isoengen
dc.publisherIEEEen
dc.relation.eventdate2018-10-01es
dc.relation.eventplaceMADRIDes
dc.relation.eventtitle2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)en
dc.relation.projectIDGobierno de España. DPI2016-75330-P/HUMASOFTes
dc.rights© 2018, IEEE.en
dc.rights.accessRightsopen accessen
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherGainen
dc.subject.otherHumanoid robotsen
dc.subject.otherTuningen
dc.subject.otherRobustnessen
dc.subject.otherElbowen
dc.titleA robust control method for the elbow of the humanoid robot TEO based on a fractional order controlleren
dc.title.alternativeA novel robust method for the elbow of the humanoid robot TEO based on a fractional order PD controlleren
dc.typeconference paper*
dc.type.hasVersionAM*
dspace.entity.typePublication
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