Title :
Quantitative feedback theory (QFT) based humanoid biped robot control design
Author :
Wei, Zhang ; Zongying, Shi ; Jihong, Du ; Wenli, Xu
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
This paper describes the design of joint motion control of humanoid biped robot, based on quantitative feedback theory and multi-objective optimization control. From the practical engineering viewpoint, an improved QFT method is presented and used in the controller design. An application example is described; simulation results of the joint motion control show stability, robustness, and the effectiveness of the proposed controller.
Keywords :
control system synthesis; feedback; legged locomotion; motion control; optimal control; robust control; QFT method; controller design; humanoid biped robot; joint motion control; multi-objective optimization control; quantitative feedback theory; robustness; simulation results; stability; Automatic control; Design automation; Design engineering; Design optimization; Feedback; Humanoid robots; Motion control; Motion planning; Robot control; Robotics and automation;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020874
