A MODEL-FREE APPROACH FOR ACCURATE JOINT MOTION CONTROL IN HUMANOID LOCOMOTION
نویسندگان
چکیده
منابع مشابه
A Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotion
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 to parameter variations will be analyzed and compared ...
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ژورنال
عنوان ژورنال: International Journal of Humanoid Robotics
سال: 2011
ISSN: 0219-8436,1793-6942
DOI: 10.1142/s0219843611002332