RT Journal Article T1 A Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotion A1 Balaguer Bernaldo de Quirós, Carlos A1 Villagrá Serrano, Jorge AB 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 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. PB World Scientific SN 0219-8436 (Print) SN 1793-6942 (Online) YR 2011 FD 2011-03 LK https://hdl.handle.net/10016/19004 UL https://hdl.handle.net/10016/19004 LA eng NO This 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. DS e-Archivo RD 27 jul. 2024