PID Control for a Collaborative Humanoid Robot

Abstract

Hydraulic actuators are known to have more power than electrical motors at the same time having less weight than an electric motor of the same size. Control of these systems is however difficult to achieve as hydraulics come with their own complications such as the overall system complexity. A control system is thus necessary to manage and control the behaviour of the system in order for it to be usable. This study focuses on designing a control system that can allow a robot that uses hydraulic components to mimic a human being in real-time. Miniature hydraulic components connected in a closed-loop configuration are used to design a robot arm that can track human motion. The ability of the robot to be mimic allows for easy and more agile control of humanoid robots. This knowledge could be used further in teaching robots how to perform tasks easily without the need for complex reprograming.