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Authors
Jose R. T. Puga, Filipe M. T. Silva, Vitor M. F. Santos

Identifier
10.3182/20060906-3-IT-2910.00129

Index Terms
5-10 legged robots,biped walking,trajectory planning,COG control,force interaction control

Abstract
This paper describes motion-control algorithms for a humanoid robot based on distributed control architecture. Towards its implementation, two different approaches based on positional and force control algorithms are revisited. At the same time, a new design procedure is proposed that consists of a fractional-order controller combined with a genetic algorithm for optimal tuning of the control parameters. The control algorithms are tested through several computer simulations and its robustness is discussed.

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