TY - GEN
T1 - The body impedance control for walking stabilization of a quadrupedal robot
AU - Yi, Soo Yeong
AU - Hong, Yeh Sun
AU - Lee, Chong Won
N1 - Publisher Copyright:
© 1999 IEEE.
PY - 1999
Y1 - 1999
N2 - One of the basic assumptions in the static gait design 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 not affected by the leg swing. Based on the assumption, the conventional static gait has been designed for the geometric body center of the robot to be inside of the support polygon which consists of each support leg's tip position. In case that the leg is relatively heavy, however, while the body center is kept inside the support polygon, the total gravity center of the robot can be out of the support polygon, which causes instability in walking. In this paper, a body impedance control is proposed to make the total gravity center of robot track the pre-designed trajectory of the body center, so that the walking stability is secured even in case that the leg weight has serious influence on the total gravity center of the robot.
AB - One of the basic assumptions in the static gait design 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 not affected by the leg swing. Based on the assumption, the conventional static gait has been designed for the geometric body center of the robot to be inside of the support polygon which consists of each support leg's tip position. In case that the leg is relatively heavy, however, while the body center is kept inside the support polygon, the total gravity center of the robot can be out of the support polygon, which causes instability in walking. In this paper, a body impedance control is proposed to make the total gravity center of robot track the pre-designed trajectory of the body center, so that the walking stability is secured even in case that the leg weight has serious influence on the total gravity center of the robot.
UR - https://www.scopus.com/pages/publications/85117567321
M3 - Conference contribution
AN - SCOPUS:85117567321
T3 - Proceedings - 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999
SP - 157
EP - 161
BT - Proceedings - 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999
Y2 - 8 November 1999 through 9 November 1999
ER -