Disturbance Observer based Linear Feedback Controller for Compliant Motion of Humanoid Robot.

Abstract Actuator modules of humanoid robots have relatively higher joint elasticity than those of industrial robots. Such joint elasticity could lead to negative effects on both the tracking performance and stability for walking. Especially, unstable contact between the foot and the ground caused by joint elasticity is a critical problem to decrease the stability of position-controlled humanoid robots. In this…

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