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 publicationIECON Proceedings (Industrial Electronics Conference)
Pages1639-1644
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Other

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

Fingerprint

Robots
Controllers
Torque

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 IECON Proceedings (Industrial Electronics Conference) (pp. 1639-1644). [5675437] https://doi.org/10.1109/IECON.2010.5675437

Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2010. p. 1639-1644 5675437.

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

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 IECON Proceedings (Industrial Electronics Conference)., 5675437, pp. 1639-1644, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675437
Sato T, Sakaino S, Ohnishi K. Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain. In IECON Proceedings (Industrial Electronics Conference). 2010. p. 1639-1644. 5675437 https://doi.org/10.1109/IECON.2010.5675437
Sato, Tomoya ; Sakaino, Sho ; Ohnishi, Kouhei. / Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain. IECON Proceedings (Industrial Electronics Conference). 2010. pp. 1639-1644
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