Impedance control and modulation for stable footing in locomotion of biped robots

Jong Hyeon Park, Hoam Chung

Research output: Contribution to conferencePaper

15 Citations (Scopus)

Abstract

This paper proposes an impedance control method with impedance modulation strategy for biped robot locomotion. The constrained leg as well as the free leg is controlled by the impedance control. To reduce the magnitude of an impact with the ground 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 with a combination of a nonlinear and linear compliant contact model show that the proposed controller is superior to computed-torque controllers in the impact regulation and stability robustness in locomotion.

Original languageEnglish
Pages1786-1791
Number of pages6
Publication statusPublished - 1 Dec 1999
Externally publishedYes
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: 17 Oct 199921 Oct 1999

Conference

Conference1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period17/10/9921/10/99

Cite this

Park, J. H., & Chung, H. (1999). Impedance control and modulation for stable footing in locomotion of biped robots. 1786-1791. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .