Title :
Impedance control for biped robot walking on uneven terrain
Author :
Son, Bum Gyu ; Kim, Jin Tak ; Park, Jong Hyeon
Author_Institution :
Dept. of Mech. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
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.
Keywords :
legged locomotion; mechanical variables control; motion control; biped robot; foot motions; ground conditions; ground reaction forces; impedance control; stable locomotion; uneven terrain walking; variable desired force; Biomimetics; Impedance; Legged locomotion; Robot control; Biped Walking; Impedance Control; Uneven Terrain;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420645
