TY - GEN
T1 - Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain
AU - Sato, Tomoya
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78751496112&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2010.5675437
DO - 10.1109/IECON.2010.5675437
M3 - Conference contribution
AN - SCOPUS:78751496112
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1639
EP - 1644
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -