34 0

Impedance Control of Quadruped Robot and Its Impedance Characteristic Modulation for Trotting on Irregular Terrain

Title
Impedance Control of Quadruped Robot and Its Impedance Characteristic Modulation for Trotting on Irregular Terrain
Author
박종현
Keywords
Legged locomotion; Impedance; Foot; Force; Trajectory; Collision avoidance
Issue Date
2012-10
Publisher
IEEE
Citation
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on 2012 Oct, 2012, pp.175 - 180
Abstract
Trotting on irregular terrain is a difficult task as undesirable impulse force by collision between robot foot and an obstacle makes the robot unstable. To cope with the problem, in this paper, variable impedance control algorithm changing leg impedance parameters according to the change of finite trot states is proposed. The state of quadruped trot is divided into five phases and the impedance parameters are changed to generate adequate response to the contact force in each locomotion phase. Simulation of trotting on irregular terrain with half-ellipsoidal trajectory has been performed with the control groups. The simulation has verified that the proposed control method shows outstanding performance and better stability for trotting on the highly irregular terrain.
URI
https://ieeexplore.ieee.org/abstract/document/6385710/http://hdl.handle.net/20.500.11754/67696
ISSN
1319-5047
DOI
10.1109/IROS.2012.6385710
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE