Impedance Control for Body Motion of Quadruped Robot
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.
KeywordsQuadruped robot Wave gait Impedance control Gravity center
Unable to display preview. Download preview PDF.
- 3.Hirose, S., et al.: Dynamic and Static Fusion Control of a Quaruped Walking Vehicle. In: Proc. of IROS 1989, pp. 199–204 (1989)Google Scholar
- 4.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)Google Scholar
- 5.Takanishi, A., et al.: Dynamic Biped Walking Stabilized with Optimal Trunk and Waist Motion. In: Proc. of IROS 1989, pp. 187–192 (1989)Google Scholar
- 8.Lee, C., et al.: Report on the Development of a Humanoid. Korea Institute of Science and Technology (1994-1998)Google Scholar