Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Table 2

Gains parameters used for simulation of stabilization control.

Control method	Gain values
CTC	, Kp = 20, Kd = 70, , ,
PID	Proportional gain (p) = 14, integral gain (I) = 60, derivative gain (D) = 1, filter coefficient (N) = 754

A low-pass filter with a time constant of (1/N) is added to the derivative term to filter out the noise.