Impedance control and modulation for stable footing in locomotionof biped robots

摘要

Proposes an impedance control method with impedance modulationstrategy for biped robot locomotion. The constrained leg as well as thefree leg is controlled by the impedance control. To reduce the magnitudeof an impact with the ground and guarantee a stable footing when a footcontacts with the ground, the paper proposes to increase the damping ofthe leg drastically and to modify the reference trajectory of the leg.Computer simulations with a 3-DOF environment model with a combinationof a nonlinear and linear compliant contact model show that the proposedcontroller is superior to computed-torque controllers in the impactregulation and stability robustness in locomotion