Impedance control for legged robots: an insight into the concepts involved

Arévalo, Juan Carlos and García Armada, Elena (2012). Impedance control for legged robots: an insight into the concepts involved. "IEEE Transactions on Systems, Man And Cybernetics. Part C, Applications And Reviews", v. 42 (n. 6); pp. 1400-1411. ISSN 1094-6977. https://doi.org/10.1109/TSMCC.2012.2187190.

Description

Title: Impedance control for legged robots: an insight into the concepts involved
Author/s:
  • Arévalo, Juan Carlos
  • García Armada, Elena
Item Type: Article
Título de Revista/Publicación: IEEE Transactions on Systems, Man And Cybernetics. Part C, Applications And Reviews
Date: November 2012
ISSN: 1094-6977
Volume: 42
Subjects:
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The application of impedance control strategies to modern legged locomotion is analyzed, paying special attention to the concepts behind its implementation which is not straightforward. In order to implement a functional impedance controller for a walking mechanism, the concepts of contact, impact, friction, and impedance have to be merged together. A literature review and a comprehensive analysis are presented compiling all these concepts along with a discussion on position-based versus force-based impedance control approaches, and a theoretical model of a robotic leg in contact with its environment is introduced. A theoretical control scheme for the legs of a general legged robot is also introduced, and some simulations results are presented.

More information

Item ID: 21266
DC Identifier: http://oa.upm.es/21266/
OAI Identifier: oai:oa.upm.es:21266
DOI: 10.1109/TSMCC.2012.2187190
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6171868
Deposited by: Memoria Investigacion
Deposited on: 05 Nov 2013 19:13
Last Modified: 21 Apr 2016 11:25
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