PID++: A Computationally Lightweight Humanoid Motion Control Algorithm.

ABSTRACT: Currently robotic motion control algorithms are tedious at best to implement, are lacking in automatic situational adaptability, and tend to be static in nature. Humanoid (human-like) control is little more than a dream, for all, but the fastest computers. The main idea of the work presented in this paper is to define a radically new, simple, and computationally lightweight approach to humanoid motion control. A new Proportional-Integral-Derivative (PID) controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load. With no PID coefficients initially specified

SUBMITTER: Arciuolo TF 

PROVIDER: S-EPMC7826970 | biostudies-literature | 2021 Jan

REPOSITORIES: biostudies-literature