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

Jong Hyeon Park, Hoam Chung

Research output: Contribution to conferencePaper

14 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
StatePublished - 1999 Dec 1
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: 1999 Oct 171999 Oct 21

Other

Other1999 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
Period99/10/1799/10/21

Fingerprint

Modulation
Robots
Controllers
Robustness (control systems)
Torque
Damping
Trajectories
Computer simulation

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, .
Park, Jong Hyeon ; Chung, Hoam. / Impedance control and modulation for stable footing in locomotion of biped robots. 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, .6 p.
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title = "Impedance control and modulation for stable footing in locomotion of biped robots",
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.",
author = "Park, {Jong Hyeon} and Hoam Chung",
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Park, JH & Chung, H 1999, 'Impedance control and modulation for stable footing in locomotion of biped robots', 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, 99/10/17 - 99/10/21 pp. 1786-1791.

Impedance control and modulation for stable footing in locomotion of biped robots. / Park, Jong Hyeon; Chung, Hoam.

1999. 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, .

Research output: Contribution to conferencePaper

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AU - Park, Jong Hyeon

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N2 - 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.

AB - 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.

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Park JH, Chung H. Impedance control and modulation for stable footing in locomotion of biped robots. 1999. 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, .