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.
|Number of pages||6|
|Publication status||Published - 1 Dec 1999|
|Event||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|
Duration: 17 Oct 1999 → 21 Oct 1999
|Conference||1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'|
|City||Kyongju, South Korea|
|Period||17/10/99 → 21/10/99|