Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2000.05a
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- Pages.566-569
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- 2000
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- 2005-8446(pISSN)
Hybrid Position/Force Control for Dynamic Walking of Biped Walking Robot
이족보행로봇의 동적 보행을 위한 혼합 위치/힘 제어
Abstract
This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.
Keywords
- Hybrid position/force control;
- Dynamic walking;
- Biped walking robot;
- Velocity transformation method;
- Ground reaction force
- 혼합 위치/힘 제어;
- 동적 보행;
- 이족보행로봇;
- 속도변환법;
- 지면반력;