摘要：In this paper, the parameters of the PID controller will be assigned, which will be applied to the control system of humanoid robot joints. Indeed owing to cognition of the trajectory of joints of the humanoid robot must be smooth and there should be no overshoot. Due to this fact, the PID gain will be tuning in order to have a smooth trajectory. The design of the control system will be used for low level control and also will be cost-oriented. The tests will be realized in the real system of the humanoid robot.
