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Soft landing control strategy for biped robot

Soft landing control strategy for biped robot PurposeThe purpose of this paper was to present a soft landing control strategy for a biped robot to avoid and absorb the impulsive reaction forces (which weakens walking stability) caused by the landing impact between the swing foot and the ground.Design/methodology/approachFirst, a suitable trajectory of the swing foot is preplanned to avoid the impulsive reaction forces in the walking direction. Second, the impulsive reaction forces of the landing impact are suppressed by the on-line trajectory modification based on the extended time-domain passivity control with admittance causality that has the reaction forces as inputs and the decomposed swing foot’s positions to trim off the forces as the outputs.FindingsThe experiment data and results are described and analyzed, showing that the proposed soft landing control strategy can suppress the impulsive forces and improve walking stability.Originality/valueThe main contribution is that a soft landing control strategy for a biped robot was proposed to deal with the impulsive reaction forces generated by the landing impact, which enhances walking stability. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Soft landing control strategy for biped robot

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
DOI
10.1108/IR-09-2016-0244
Publisher site
See Article on Publisher Site

Abstract

PurposeThe purpose of this paper was to present a soft landing control strategy for a biped robot to avoid and absorb the impulsive reaction forces (which weakens walking stability) caused by the landing impact between the swing foot and the ground.Design/methodology/approachFirst, a suitable trajectory of the swing foot is preplanned to avoid the impulsive reaction forces in the walking direction. Second, the impulsive reaction forces of the landing impact are suppressed by the on-line trajectory modification based on the extended time-domain passivity control with admittance causality that has the reaction forces as inputs and the decomposed swing foot’s positions to trim off the forces as the outputs.FindingsThe experiment data and results are described and analyzed, showing that the proposed soft landing control strategy can suppress the impulsive forces and improve walking stability.Originality/valueThe main contribution is that a soft landing control strategy for a biped robot was proposed to deal with the impulsive reaction forces generated by the landing impact, which enhances walking stability.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: May 15, 2017

References