Landing force controller for a humanoid robot: Time-domain passivity approach

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For the purpose of a humanoid robot's stable walking or running, it is important to absorb landing force or ground reaction force which is generated when the robot's foot lands on the ground surface. The force can make the robot unstable, and the problem becomes serious if the robot runs. This paper proposes a control system, which can absorb the landing force of a humanoid robot. Time-domain passivity control approach is applied for this purpose. Ground and the robot's foot are modeled as two one-port network systems, which are connected and exchange energy with each other. The time-domain passivity controller has the landing force as input and controls the foot's position to reduce the force. The proposed controller can guarantee the stability of the robot system without need of any dynamic model information or control parameters. Using small sized humanoid robot, dynamic walking experiments are performed to verify the proposed scheme, and its efficiency is shown from the comparison with the other scheme.
Publisher
IEEE Systems, Man, and Cybernetics Society
Issue Date
2006-10-08
Language
English
Citation

2006 IEEE International Conference on Systems, Man and Cybernetics, pp.4237 - 4242

ISSN
1062-922X
DOI
10.1109/ICSMC.2006.384800
URI
http://hdl.handle.net/10203/286865
Appears in Collection
EE-Conference Papers(학술회의논문)CE-Conference Papers(학술회의논문)
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