By Topic

Impedance control for biped robot locomotion

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Jong Hyeon Park ; Mechatronics Lab., Hanyang Univ., Seoul, South Korea

This paper proposes a control method for biped robot locomotion based on impedance control and impedance modulation. Both legs are controlled by the impedance control, where the desired impedance at the hip and the swing foot are specified. The impedance parameters are changed depending on the gait phase of the biped robot. To reduce the magnitude of impact and to guarantee a stable footing at foot landings on the ground, the damping coefficient of the impedance of the landing foot is increased drastically and the reference trajectory of the landing foot is reset at its initial contact with the ground. A series of computer simulations of a 12-degree-of-freedom (DOF) biped robot with a 6-DOF environment model which consists of nonlinear and linear compliant spring-and-dampers, shows that the proposed control method works well and is superior to position-oriented control methods such as the computed-torque control method in impact regulation during foot landings and adaptation to some ground irregularity

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 6 )