Control of Biped Robots Based on Impedance Control and Computed-Torque Control

계산-토크 제어와 임피던스 제어를 이용한 2족 보행 로봇의 제어

  • Published : 2000.06.01


This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.


Biped Robot;Biped Locomotion;Hybrid Control;Impedance Control;Computed-Torque Control;Contact Stability;Environment Model


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