Development of a Biped Humanoid Robot-BabyBot

Abstract: The humanoid robot has a large number of actuators to mimic the human behaviors, e.g., BabyBot developed as one of humanoid platforms consists of 24 electric motors. In this case, the decentralized controllers such as PID ones are used to control the position of motors, since it is hard for complex centralized controllers to use. Moreover, although the controller has the decentralized type, it takes much time to tune the motion control performance of humanoid robot since the actuators show the different characteristics according to their capacity. In order to achieve the target performance quickly, BabyBot uses the decentralized auto-tuning PID controller. In this paper, the auto-tuning criterion for BabyBot is suggested to satisfy the target performance. Finally, experimental results show that the target performance can be quickly accomplished by it while executing tasks.

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