IEEE - Institute of Electrical and Electronics Engineers, Inc. - Impedance control for running of biped robots

Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Author(s): Jong Hyeon Park ; Ohung Kwon
Sponsor(s): IEEE Ind. Electron. Soc.(IES)
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2003
Conference Location: Kobe, Japan, Japan
Conference Date: 20 July 2003
Volume: 2
Page Count: 6
ISBN (Paper): 0-7803-7759-1
DOI: 10.1109/AIM.2003.1225469
Regular:

In this paper, a running cycle is divided into a stance phase and a flight phase, and impedance control algorithms for each phase are proposed. In the stance phase, under the assumption that the... View More

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