Automatic Performance Tuning Method of Decentralized Motion Controllers for a Humanoid Robot System

摘要

It discloses methods for automatically tuning the performance of a distributed operating system controller for the humanoid robot. The present invention is applied to a humanoid robot system and the controller for controlling the operation of each joint, made in a control signal processing module for controlling the controller, including the arms, legs, neck constituting the humanoid robot, the present invention humanoid automatic performance tuning method for distributed operation controller for the robot system into a step of normalizing the composite error value of the normalized (normalization) to the differential gain PID control, and the composite error range, the controller is set in advance to achieve the target performance the automatic gain control performance tuning of the tuning made in which characterized in that a step of continuously performed by the controller. According to the invention, the operation controller of the humanoid robot system of the present invention is therefore of a distributed control structure most suitable for imitating the human motion, keeping the controller, the maintenance is convenient. ; Humanoid robots, robots, platform, automatic performance tuning methods, distributed control