Impedance Control for Biped Robot Walking on Uneven Terrain

被引：15
|
作者：
Son, Bum Gyu [1 ]
Kim, Jin Tak [1 ]
Park, Jong Hyeon [1 ]
机构：
[1] Hanyang Univ, Dept Mech Engn, Seoul 133791, South Korea
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年
关键词：
Impedance Control; Uneven Terrain; Biped Walking;
D O I：
10.1109/ROBIO.2009.5420645
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes a method for a biped robot to walk on uneven terrains. For stable locomotion, it is necessary for the biped robot to adapt to the ground conditions with suitable foot motions and to reduce the magnitude of the ground reaction forces (GRFs) applied at the feet that are in contact with the ground. This paper suggests the impedance control scheme with a variable desired force to reduce the GRFs. The effectiveness and performance of the proposed control scheme are demonstrated in computer simulations with a 12-DOF biped robot.
引用
收藏
页码：239 / 244
页数：6
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