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Compliance/Impedance Control Strategy for Humanoids

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Humanoid Robotics: A Reference

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Abstract

Compliance/impedance control is an important control method in dealing with uncertainties. This chapter explains how compliance/impedance control can be used in humanoid robots in adapting to ground uncertainties. First, compliance/impedance control is explained in the general context of robotics. Then, typical structures for controllers for impedance control and admittance control are also explained. What is impedance for a humanoid robot in locomotion and running is defined and how impedance control, as a superset of compliance control, is applied as it is described. The legs of a humanoid robot in locomotion and running go through many different phases. A human in locomotion and running changes the tension of his/her leg muscles. In order to deal with many different phases of the legs, it is critical to modulate the impedance parameters depending on the phases, as a human does in his or her locomotion and running. This chapter also describes how the impedance parameters can be modulated in control for a humanoid robot for successful locomotion and running.

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Authors and Affiliations

  1. Mechatronics Lab, School of Mechanical Engineering, Hanyang University, 133-791, Seoul, Korea

    Jong Hyeon Park

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  1. Jong Hyeon Park
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Correspondence to Jong Hyeon Park .

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Editors and Affiliations

  1. Intuitive Surgical , Sunnyvale, California, USA

    Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prahlad Vadakkepat

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Park, J.H. (2017). Compliance/Impedance Control Strategy for Humanoids. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_148-1

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  • DOI: https://doi.org/10.1007/978-94-007-7194-9_148-1

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7194-9

  • Online ISBN: 978-94-007-7194-9

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