Open AccessImpedance Control and its Effects on a Humanoid Robot Playing Table Tennis
Author(s) -
Rong Xiong,
Yichao Sun,
Qiuguo Zhu,
Jun Wu,
Jian Chu
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/51924
Subject(s) - computer science , impedance control , humanoid robot , acceleration , swing , stability (learning theory) , robot , simulation , table (database) , ground reaction force , electrical impedance , control theory (sociology) , control (management) , artificial intelligence , acoustics , kinematics , electrical engineering , physics , engineering , classical mechanics , machine learning , data mining
This paper proposes an impedance control scheme used on humanoid robots for stability maintenance when the robot is expected to carry out fast manipulatory tasks. We take table tennis playing as an example to study this issue. The fast acceleration required by table tennis rallying will result in an unknown large reaction force on the robot, causing the body to swing back and forth in an oscillating motion and the foot to lose complete contact with the ground. To improve the stability during fast manipulation and in order to resist disturbances due to the reaction force, we introduce impedance control to absorb the impact and decrease the amplitude of body swinging. The system’s adjusting time is also reduced and the oscillations are eliminated according to the experimental results, which show the effectiveness of our scheme