Impedance control for biped modular reconfigurable robot with gait coordination under complex environmental contact

被引：0

作者：

Guo, Yang ^{[1
]}

An, Tianjiao ^{[2
]}

Ma, Bing ^{[2
]}

Dong, Bo ^{[2
]}

Li, Yuanchun ^{[2
]}

机构：

[1] Changchun Univ Technol, Elect Informat Dept, Changchun, Peoples R China

[2] Changchun Univ Technol, Dept Control Sci & Engn, Changchun, Peoples R China

来源：

2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年

基金：

中国国家自然科学基金;

关键词：

biped modular reconfigurable robot; impedance control; zero-moment point; gait coordination;

D O I：

10.1109/CCDC58219.2023.10327388

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an impedance control algorithm for biped modular reconfigurable robot (MRR) is proposed for steady walking. Base on Newton-Euler iterative method, the dynamic models of legs and hips are established respectively. Considering the contact state between environment and foot, a contact model is established. The desired trajectory is generated based on zero moment point method (ZMP). In the process of biped MRR movement, aiming at the problem of gait coordination in the single support phase (SSP) and the double support phase (DSP), the impedance coordination control algorithm is introduced, and the impedance controller for both legs is designed. The leg track the desired trajectory and achieve the purpose of stable walking. The stability of the impedance controller is proved by Lyapunov theory. Finally, the simulation results demonstrate the effectiveness of the proposed control method.

引用

页码：4536 / 4541

页数：6

共 26 条

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