Humanoid Robot Motion Tracking Control Method Integrating Adaptive PID, Kalman Filtering and Feedforward Compensation
Li Jinhui, Zhang Jingyu, Song Changhao & Li Xiangbin · Journal of Engineering Research and Reports · 2026
Aims: This study developed and evaluated a humanoid joint-space motion-tracking controller integrating standard Kalman filtering, adaptive proportional-integral-derivative feedback and model-based inverse-dynamics feedforward compensation. Study Design: A twenty-trial Monte Carlo...
Open access
Research Article
10.9734/jerr/2026/v28i81983