Robust motion control for humanoid robot flexible joints

A new approach for robust motion control of critical joints in humanoid robots is presented in this paper. Structural stiffness, frictions and delays induced by the communication network will be fast and properly compensated with an algebraic model-free control algorithm. Moreover, robustness to parameter variations will be analyzed and compared with an advanced PID-based control law. 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 system.