TIME-DOMAIN PASSIVITY CONTROL BASED IMPACT CONTROL FOR LEGGED ROBOT

摘要

An impact control system for a walking robot is provided to reduce a counterforce from a ground surface by controlling the position of a foot of the robot based on a torque detected by a sensor, which is attached to a sole or an ankle of the foot. A passivity scheme is applied to control a foot(11) of a robot, so that a counterforce(14) from a ground surface is reduced. The foot of the robot is modeled by using a 1-port network system. Variation components of a force(12) and a position variation during one control period(13) are defined, so that energy is inputted to the 1-port network system. The position variation during one control period is upward, and the counterforce from the ground surface is also upward. When the energy from the system during one control period is positive, a robot system is in a passive state. When the foot of the robot touches the ground surface, the foot kicks against the ground surface and the energy of the robot system is turned into a negative value, so that the robot discharges energy to the outside.