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Impedance control for legged robots: an insight into the concepts involved
Cita
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.
Descripción
| Título: | Impedance control for legged robots: an insight into the concepts involved |
|---|---|
| Autor/es: |
|
| Tipo de Documento: | Artículo |
| Título de Revista/Publicación: | IEEE Transactions on Systems, Man And Cybernetics. Part C, Applications And Reviews |
| Fecha: | Noviembre 2012 |
| ISSN: | 1094-6977 |
| Volumen: | 42 |
| Número: | 6 |
| Materias: | |
| ODS: | |
| Escuela: | Centro de Automática y Robótica (CAR) UPM-CSIC |
| Departamento: | Otro |
| Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
Resumen
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.
Más información
| ID de Registro: | 21266 |
|---|---|
| Identificador DC: | https://oa.upm.es/21266/ |
| Identificador OAI: | oai:oa.upm.es:21266 |
| Identificador DOI: | 10.1109/TSMCC.2012.2187190 |
| URL Oficial: | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 05 Nov 2013 19:13 |
| Ultima Modificación: | 21 Abr 2016 11:25 |
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