Abstract
This paper applies a robust control technique, quantitative feedback theory (QFT), to the torque control of a geared, DC-motor driven joint, with compliance between the transmission and the load. The controller is made robust against changes in the load inertia, ranging from a known minimum value (e.g. a link’s inertia) and infinity (constrained link), while rejecting external torque disturbances. The resulting controller is tested experimentally on a joint of a four legged walking robot.
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