Motion planning and control strategies for a distributed architecture humanoid robot

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.