제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Legged Robot Landing Control using Body Stiffness & Damping

  • Sung, Sang-Hak (Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH) Robotics & Bio-Mechatronics Lab.) ;
  • Youm, Youn-Gil (Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH) Robotics & Bio-Mechatronics Lab.) ;
  • Chung, Wan-Kyun (Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH) Robotics & Bio-Mechatronics Lab.)
  • Published : 2005.06.02
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Abstract

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity behaves like mass with spring & damping in vertical direction on contact regime.

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