Synthesis of adaptive impedance control for bipedal robot mechanisms | Zendy

Milena Petrovic | Zendy; Aleksandar Rodić | Zendy

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Synthesis of adaptive impedance control for bipedal robot mechanisms

Author(s) -

Milena Petrovic,

Aleksandar Rodić

Publication year - 2008

Publication title -

journal of automatic control

Language(s) - English

Resource type - Journals

eISSN - 2406-0984

pISSN - 1450-9903

DOI - 10.2298/jac0801015p

Subject(s) - computer science , regulator , impedance control , electrical impedance , control theory (sociology) , tracking (education) , robot , modulation (music) , humanoid robot , control (management) , artificial intelligence , acoustics , engineering , physics , psychology , pedagogy , biochemistry , chemistry , electrical engineering , gene

The paper describes the impedance algorithm in locomotion of humanoid robot with proposed parameter modulation depending on the gate phase. The analysis shows influence of walking speed and foot elevation on regulator's parameters. Chosen criterion cares for footpath tracking and needed energy for that way of walking. The experiments give recommendation for impedance regulator tuning

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