RT Conference Proceedings
T1 A robust control method for the elbow of the humanoid robot TEO based on a fractional order controller
T2 A novel robust method for the elbow of the humanoid robot TEO based on a fractional order PD controller
A1 Muñoz Yáñez-Barnuevo, Jorge
A1 Monje Micharet, Concepción Alicia
A1 Martín Monar, Fernando
A1 Balaguer Bernaldo de Quirós, Carlos
AB 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.
PB IEEE
SN 978-1-5386-8094-0
YR 2019
FD 2019-01-07
LK https://hdl.handle.net/10016/29632
UL https://hdl.handle.net/10016/29632
LA eng
NO Proceeding of: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, Spain
NO The  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.
DS e-Archivo
RD 30 jun. 2024