DocumentCode
381080
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
Volume
2
fYear
2002
fDate
2002
Firstpage
1676
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1020874
Filename
1020874
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