Muñoz Yáñez-Barnuevo, JorgeMonje Micharet, Concepción AliciaMartín Monar, FernandoBalaguer Bernaldo de Quirós, Carlos2020-02-052020-02-052019-01-072018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Towards a robotic society], October 1-5, 2018, Madrid, Spain. IEEE, 2019, Pp. 6378-6383978-1-5386-8094-0https://hdl.handle.net/10016/29632Proceeding of: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, SpainThis 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.6eng© 2018, IEEE.GainHumanoid robotsTuningRobustnessElbowconference paperRobótica e Informática Industrialhttps://doi.org/10.1109/IROS.2018.8593732open access637863832018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [Towards a robotic society], October 1-5, 2018, Madrid, SpainCC/0000030148