scholarly journals Walking Control of a Biped Robot by Impedance Control

1997 ◽  
Vol 117 (10) ◽  
pp. 1227-1233 ◽  
Author(s):  
Sorao Kenji ◽  
Murakami Toshiyuki ◽  
Ohnishi Kouhei
Keyword(s):  
Impedance Control ◽  
Biped Robot ◽  
Walking Control

2P2-I07 Walking Control of Biped Robot by Microcomputer with Heuristic Approach(Humanoid)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2P2-I07_1-_2P2-I07_3
Author(s):  
Satoshi TAKEZAWA ◽  
Akihiko TAKASIMA ◽  
Tomoya SASAKI
Keyword(s):  
Biped Robot ◽  
Heuristic Approach ◽  
Walking Control

Impedance Control System for a Biped Skating Robot

2013 ◽  
Vol 475-476 ◽  
pp. 693-696
Author(s):  
Jin Liang Li ◽  
Ji Hua Bao ◽  
Yan Yu
Keyword(s):  
Control Problem ◽  
Motion Control ◽  
Pid Controller ◽  
Control Method ◽  
Impedance Control ◽  
Reaction Force ◽  
Biped Robot ◽  
Swing Phase ◽  
Load Impedance ◽  
Three Phase

This paper studied impedance control problem for a biped skating robot. Impedance control for ground reaction force which is realized through varying load impedance between supporting leg and ground to maintain flexible contact is vital to motion control problem. Biped skating motion is divided into three phase, i.e. leg swing phase, weight reception phase and supporting phase. During weigh reception and supporting phase, one the of the robot legs has pushed onto ground to generated reaction force which must be controlled for dynamic stability. During swing phase a PID controller is used. Impedance control is realized by varying the load impedance between supporting leg and ground to maintain flexible contact. By proposed impedance control method, a dynamic stable skating movement controller was successfully developed for the biped robot with skating speed of 0.13 m/s.

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