Joint control of a humanoid robot

摘要

Stable walking is the essential ability for the humanoid robot. One of the conditions to achieve a stable robot walking is to maintain the real trajectory of each joint, affected by different disturbances, more similar to the ideal one. This paper considers an identification of dynamical parameters and then a design of joint's controller for a humanoid robot. Moreover, the additional study was carried out in order to determine the need of the adaptive joint control in humanoid robot bipedal walking. Different walking experiments provided with Rh-1 humanoid robot equipped with the developed control system demonstrate fast, stable and smooth joint's movement.