Impedance control for biped robot walking on uneven terrain

Bum Gyu Son, Jin Tak Kim, Jong Hyeon Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages239-244
Number of pages6
DOIs
StatePublished - 2009 Dec 1
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 2009 Dec 192009 Dec 23

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
CountryChina
CityGuilin
Period09/12/1909/12/23

Keywords

  • Biped walking
  • Impedance control
  • Uneven terrain

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  • Cite this

    Son, B. G., Kim, J. T., & Park, J. H. (2009). Impedance control for biped robot walking on uneven terrain. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 239-244). [5420645] (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420645