TY - GEN
T1 - Impedance control for body motion of quadruped robot
AU - Yi, Sooyeong
PY - 2012
Y1 - 2012
N2 - One of the basic assumptions in the conventional wave gait for a walking robot is that the weight of a leg should be negligible compared to that of body, so that the total gravity center of the robot is always kept inside of the support polygon, not affected by a motion of a leg. In case that a leg is relatively heavy, however, while the gravity center of the body is kept inside of the support polygon, the total gravity center can be out of the support polygon due to moving leg, which causes instability in walking. In this paper, an impedance control for body motion is proposed to make the total gravity center of a quadruped robot track the pre-designed trajectory for the gravity center of the body, so that the walking stability is secured even in case that the weight of a leg has serious influence on the total gravity center of the robot.
AB - One of the basic assumptions in the conventional wave gait for a walking robot is that the weight of a leg should be negligible compared to that of body, so that the total gravity center of the robot is always kept inside of the support polygon, not affected by a motion of a leg. In case that a leg is relatively heavy, however, while the gravity center of the body is kept inside of the support polygon, the total gravity center can be out of the support polygon due to moving leg, which causes instability in walking. In this paper, an impedance control for body motion is proposed to make the total gravity center of a quadruped robot track the pre-designed trajectory for the gravity center of the body, so that the walking stability is secured even in case that the weight of a leg has serious influence on the total gravity center of the robot.
KW - Gravity center
KW - Impedance control
KW - Quadruped robot
KW - Wave gait
UR - https://www.scopus.com/pages/publications/84869811639
U2 - 10.1007/978-3-642-35264-5_27
DO - 10.1007/978-3-642-35264-5_27
M3 - Conference contribution
AN - SCOPUS:84869811639
SN - 9783642352638
T3 - Communications in Computer and Information Science
SP - 190
EP - 197
BT - Computer Applications for Security, Control and System Engineering - International Conferences, SecTech, CA, CES3 2012, Held in Conjunction with GST 2012, Proceedings
T2 - 2012 Int. Conf. on SecTech 2012, 2012 Int. Conf. on Control and Automation, CA 2012 and the 2012 Int. Conf. on Circuits, Control, Communication, Electricity, Electronics, Energy, System, Signal and Simulation, Held in Conjunction with GST 2012
Y2 - 28 November 2012 through 2 December 2012
ER -