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

Table 3

Control gains.

Control method	Gain values
AAC-based position control	, , ,  = 50
AAC-based cascade position-torque control	, , ,  = 50

1. The approximation modeling error is assumed to be zero, and hence, the robust gains are neglected. 2. The damping coefficient in the flexible elements is set to zero.