Hybrid control for biped robots using impedance control and computed-torque control

Jong Hyeon Park, Hoam Chung

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29 Citations (Scopus)


This paper proposes a hybrid control method of using the impedance control and the computed-torque control for biped robot locomotion. The computed-torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3-dof environment model for which a combination of a nonlinear and a linear compliant contact models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
Publication statusPublished - 1 Jan 1999
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 1999 - Detroit, United States of America
Duration: 10 May 199915 May 1999
https://ieeexplore.ieee.org/xpl/conhome/6243/proceeding (Proceedings)


ConferenceIEEE International Conference on Robotics and Automation 1999
Abbreviated titleICRA 1999
CountryUnited States of America
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