Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
Volume 42, Issue 6, Pages 1400-1411Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCC.2012.2187190
Keywords
Contact; impedance control; legged robots
Categories
Funding
- Spanish Ministry for Innovation and Science [DPI2010-18702]
- Agencia Espanola de Cooperacion Internacional Para el Desarrollo under Grant PCI-iberoamerica [D/030531/10]
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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.
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