Switching Impedance Control in Vertical Direction for Biped Robot with Toe and Heel Joints on Uneven Terrain

被引：0
|
作者：
Sato, Tomoya [1 ]
Sakaino, Sho [1 ]
Ohnishi, Kouhei [1 ]
机构：
[1] Keio Univ, Dept Syst Design Engn, Yokohama, Kanagawa 2238522, Japan
来源：
IECON 2010 - 36TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2010年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force commands for the controller is proposed. The validity of the modified controller with the proposed method was confirmed by experimental results.
引用
收藏
页数：6
相关论文
共 50 条
  • [1] Impedance Control for Biped Robot Walking on Uneven Terrain
    Son, Bum Gyu
    Kim, Jin Tak
    Park, Jong Hyeon
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 239 - 244
  • [2] Biped Robot Walking on Uneven Terrain Using Impedance Control and Terrain Recognition Algorithm
    Yoo, Sung Min
    Hwang, Sung Wook
    Kim, Deok Ha
    Park, Jong Hyeon
    [J]. 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2018, : 293 - 298
  • [3] Control of a Biped Robot with Flexible Foot on an Uneven Terrain
    Balakrishnan, Sreeja
    Tripathi, Shikha
    Sudarshan, T. S. B.
    [J]. 2014 7TH INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION FOR SUSTAINABILITY (ICIAFS), 2014,
  • [4] A novel hierarchical control strategy for biped robot walking on uneven terrain
    Dong, Chencheng
    Chen, Xuechao
    Yu, Zhangguo
    Huang, Zelin
    Li, Qingqing
    Zhou, Qinqin
    Huang, Qiang
    [J]. 2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2019, : 140 - 145
  • [5] Heel and Toe Lifting Walk Controller for Traversing Uneven Terrain
    Yi, Seung-Joon
    Hong, Dennis
    Lee, Daniel D.
    [J]. 2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2015, : 325 - 330
  • [6] Gait Pattern Generation with Knee Stretch Motion for Biped Robot using Toe and Heel Joints
    Handharu, Nandha
    Yoon, Jungwon
    Kim, Gabsoon
    [J]. 2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 221 - +
  • [7] Analysis of Biped Robot on Uneven Terrain Based on Feed-Forward Control
    Yan, Cong
    Asano, Fumihiko
    Zheng, Yanqiu
    Li, Longchuan
    [J]. ROBOTICS FOR SUSTAINABLE FUTURE, CLAWAR 2021, 2022, 324 : 37 - 39
  • [8] WALKING CONTROL ON UNKNOWN AND UNEVEN TERRAIN FOR BIPED ROBOT WITH SPRING EMBEDDED FEET
    Yamada, Moyuru
    Sano, Shigenori
    Uchiyama, Naoki
    [J]. EMERGING TRENDS IN MOBILE ROBOTICS, 2010, : 557 - 564
  • [9] A Gait Planning Method for Biped Heel-and-toe Robot
    Zhang, Qiushi
    Chen, Dandan
    Li, Hongmei
    [J]. 2012 INTERNATIONAL CONFERENCE ON FUTURE ENERGY, ENVIRONMENT, AND MATERIALS, PT C, 2012, 16 : 1799 - 1805
  • [10] Dynamics Modeling of a Biped Robot with Active Toe Joints
    Ezati, Mahdokht
    Khadiv, Majid
    Moosavian, S. Ali A.
    [J]. 2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 107 - 112
12345