Impedance control for biped robot walking on uneven terrain
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Son, Bum Gyu | - |
dc.contributor.author | Kim, Jin Tak | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-12-20T19:32:50Z | - |
dc.date.available | 2022-12-20T19:32:50Z | - |
dc.date.created | 2022-09-16 | - |
dc.date.issued | 2009-12 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/175695 | - |
dc.description.abstract | This paper proposes a method for a biped robot to walk on uneven terrains. For stable locomotion, it is necessary for the biped robot to adapt to the ground conditions with suitable foot motions and to reduce the magnitude of the ground reaction forces (GRFs) applied at the feet that are in contact with the ground. This paper suggests the impedance control scheme with a variable desired force to reduce the GRFs. The effectiveness and performance of the proposed control scheme are demonstrated in computer simulations with a 12-DOF biped robot. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE | - |
dc.title | Impedance control for biped robot walking on uneven terrain | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1109/ROBIO.2009.5420645 | - |
dc.identifier.scopusid | 2-s2.0-77951480442 | - |
dc.identifier.bibliographicCitation | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp.239 - 244 | - |
dc.relation.isPartOf | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 | - |
dc.citation.title | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 | - |
dc.citation.startPage | 239 | - |
dc.citation.endPage | 244 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Biped Robot | - |
dc.subject.keywordPlus | Biped robot walking | - |
dc.subject.keywordPlus | Biped walking | - |
dc.subject.keywordPlus | Control schemes | - |
dc.subject.keywordPlus | Ground conditions | - |
dc.subject.keywordPlus | Ground reaction forces | - |
dc.subject.keywordPlus | Impedance control | - |
dc.subject.keywordPlus | Stable locomotion | - |
dc.subject.keywordPlus | Uneven terrain | - |
dc.subject.keywordPlus | Biomimetics | - |
dc.subject.keywordPlus | Computer simulation | - |
dc.subject.keywordPlus | Landforms | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordAuthor | Biped walking | - |
dc.subject.keywordAuthor | Impedance control | - |
dc.subject.keywordAuthor | Uneven terrain | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/5420645 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.