Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Song, S., et al.: An Analytical Approach for Gait Study and Its Application on Wave Gaits. The Int’l Jour. of Robotics Research 6(2), 60–71 (1987)
Hirose, S.: A Study of Design and Control of a Quadrupedal Walking Vehicle. The Int’l Jour. of Robotics Research 3(2), 113–133 (1984)
Hirose, S., et al.: Dynamic and Static Fusion Control of a Quaruped Walking Vehicle. In: Proc. of IROS 1989, pp. 199–204 (1989)
Lee, D., et al.: Teleoperation of a quadruped walking robot using an aperiodic gait that converges to a periodic gait. In: Proc. of IROS 1999, pp. 1639–1644 (1999)
Takanishi, A., et al.: Dynamic Biped Walking Stabilized with Optimal Trunk and Waist Motion. In: Proc. of IROS 1989, pp. 187–192 (1989)
Klein, C., et al.: Force interaction and allocation for the legs of a walking vehicle. IEEE Trans. on Robotics and Automation 3(6), 546–555 (1987)
Klein, C., et al.: Use of Force and Attitude Sensors for Locomotion of a legged Vehicle over Irregular Terrain. The Int’l Jour. of Robotics Research 2(2), 3–17 (1983)
Lee, C., et al.: Report on the Development of a Humanoid. Korea Institute of Science and Technology (1994-1998)
Hong, Y., et al.: The Design and Control of a Jointed-Leg Type of Quadrupedal Robot for Locomotion on Irregular Ground. Robotica 17, 383–389 (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Yi, S. (2012). Impedance Control for Body Motion of Quadruped Robot. In: Kim, Th., et al. Computer Applications for Security, Control and System Engineering. Communications in Computer and Information Science, vol 339. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35264-5_27
Download citation
DOI: https://doi.org/10.1007/978-3-642-35264-5_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-35263-8
Online ISBN: 978-3-642-35264-5
eBook Packages: Computer ScienceComputer Science (R0)