Paper Info
Title
Towards force interaction control of biped walking robots
Abstract
This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings forward, and double support, in which the forward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through nonlinear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its robustness is discussed.
Year
DOI
Venue
2004
10.1109/IROS.2004.1389795
IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference
Keywords
Field
DocType
force control,legged locomotion,nonlinear control systems,position control,vibration control,biped walking robots,force interaction control,nonlinear spring-damper systems,position control
Robot control,Control algorithm,Nonlinear system,Vibration control,Interaction control,Control theory,Computer science,Robustness (computer science),Control engineering,Robot,Cartesian coordinate system
Conference
Volume
ISBN
Citations 
3
0-7803-8463-6
2
PageRank 
References 
Authors
0.42
8
2
Name
Order
Citations
PageRank
Filipe M. T. Silva16514.07
José António Tenreiro Machado210216.42