摘要：As humanoid robots assume more important roles in applicable areas, they are expected to operate in the environment for human, to adapt to unknown environment and to replace humans in hazardous operations. There is a large number of publications which closely elaborate and scrutinize issues regarding the control of humanoid robots available but only few are based on modern control theories. Furthermore, according to the new headline “Cost Oriented Humanoid Robots – COHR” the new control concept has to fulfil in addition other features. Therefore, main purpose of this paper is to develop control system for humanoid robots that are cheaper than the current state-of-the-art. The new control concept will be implemented and tested on the real COHR robot (ARCHIE) available at the IHRT (Intelligent Handling and Robotics).
