Paper Info
Title
Goal-oriented biped walking based on force interaction control
Abstract
Addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings forward, and double support, in which the forward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear and nonlinear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its effectiveness and robustness is discussed.
Year
DOI
Venue
2001
10.1109/ROBOT.2001.933262
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference
Keywords
Field
DocType
force control,legged locomotion,path planning,position control,robot dynamics,robust control,Cartesian-based force control,Cartesian-based position control,biped robot,constrained surface,double support,force interaction control,goal-oriented biped walking,linear spring-damper systems,nonlinear spring-damper systems,robustness,single support,walking cycle
Motion planning,Motion control,Nonlinear system,Control theory,Simulation,Robot kinematics,Robustness (computer science),Control engineering,Engineering,Robust control,Robot,Cartesian coordinate system
Conference
Volume
Issue
ISSN
4
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-6576-3
5
0.87
References 
Authors
6
2
Name
Order
Citations
PageRank
Filipe M. T. Silva16514.07
José António Tenreiro Machado210216.42