Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force commands for the controller is proposed. The validity of the modified controller with the proposed method was confirmed by experimental results.

Original languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1639-1644
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Sato, T., Sakaino, S., & Ohnishi, K. (2010). Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 1639-1644). [5675437] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675437