Impedance control for legged robots: an insight into the concepts involved


Autoria(s): Arévalo, Juan Carlos; García Armada, Elena
Data(s)

01/11/2012

Resumo

The application of impedance control strategies to modern legged locomotion is analyzed, paying special attention to the concepts behind its implementation which is not straightforward. In order to implement a functional impedance controller for a walking mechanism, the concepts of contact, impact, friction, and impedance have to be merged together. A literature review and a comprehensive analysis are presented compiling all these concepts along with a discussion on position-based versus force-based impedance control approaches, and a theoretical model of a robotic leg in contact with its environment is introduced. A theoretical control scheme for the legs of a general legged robot is also introduced, and some simulations results are presented.

Formato

application/pdf

Identificador

http://oa.upm.es/21266/

Idioma(s)

eng

Relação

http://oa.upm.es/21266/1/INVE_MEM_2012_144186.pdf

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6171868

info:eu-repo/semantics/altIdentifier/doi/10.1109/TSMCC.2012.2187190

Direitos

http://creativecommons.org/licenses/by-nc-nd/3.0/es/

info:eu-repo/semantics/openAccess

Fonte

IEEE Transactions on Systems, Man And Cybernetics. Part C, Applications And Reviews, ISSN 1094-6977, 2012-11, Vol. 42, No. 6

Palavras-Chave #Robótica e Informática Industrial
Tipo

info:eu-repo/semantics/article

Artículo

PeerReviewed