Impedance Control for Biped Robot Walking on Uneven Terrain

摘要：

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.

关键词： Impedance Control Uneven Terrain Biped Walking

作者: Bum Gyu Son Jin Tak Kim Jong Hyeon Park

作者单位: Department of Mechanical Engineering,Hanyang University,Seoul,133-791,Korea

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 239-244

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）