This paper proposes a control method for biped robot locomotion based on impedance control and impedance modulation. Both legs are controlled by the impedance control, where the desired impedance at the hip and the swing foot are specified. The impedance parameters are changed depending on the gait phase of the biped robot. To reduce the magnitude of impact and to guarantee a stable footing at foot landings on the ground, the damping coefficient of the impedance of the landing foot is increased drastically and the reference trajectory of the landing foot is reset at its initial contact with the ground. A series of computer simulations of a 12-degree-of-freedom (DOF) biped robot with a 6-DOF environment model which consists of nonlinear and linear compliant spring-and-dampers, shows that the proposed control method works well and is superior to position-oriented control methods such as the computed-torque control method in impact regulation during foot landings and adaptation to some ground irregularity.

Impedance control for biped robot locomotion

This paper describes a new control method of teleoperation systems with communication time delay. This method models the teleoperation system in the state space, considering all the possible interactions that could appear in the operator-master-slave-environment set, and it uses the Taylor expansion to model the time delay. The control system allows that the slave manipulator follows the master in spite of the time delay in the communication channel. The tracking is achieved by state convergence between the master and the slave. The method is also able to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Furthermore, a simple design procedure is provided to obtain the control system gains. These control gains are calculated solving a set of seven equations. The control method is robust to the uncertainty of the design parameters, so it is not necessary to obtain good estimations of these parameters. Simulations and experiments with a one DOF teleoperation system are presented to verify the control method. © 2004 Wiley Periodicals, Inc.

Control of Teleoperators with Communication Time Delay through State Convergence

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a two-dimensional plane. In this research, a new class of omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The OMR-SOW with four omnidirectional wheels has been developed in this research. Kinematics and dynamics of this robot will be analyzed in detail. Various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism and control algorithm. © 2004 Wiley Periodicals, Inc.

Design and Control of a Four-Wheeled Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

This paper is devoted to design a robot control system for assisting in the rehabilitation of patients who suffer from debilitating illness such as stroke. The rehabilitation robot discussed in this subject is able to guide patient's wrist to move along planned trajectory in both horizontal and vertical plane, and train the elbow joint as well as shoulder joint. Increasingly the robot requires interacting directly with human, so it needs to control not only the robot position but also the applied forces. In this paper, it presents a new position-based impedance control that involves a combined force feedback and position control. At the meantime, it gives a conversion relationship between the commands of force and position. A new controller structure is proposed, which consists of an outer force controller enhanced by impedance control. The target impedance model modifies a desired trajectory according to the force signals. The modified trajectory acts as a compensate resource adding to the desired trajectory. Then the robot tracks the trajectory using the inner position controller. The experiment results show that the trajectory tracking based on force feedback on the condition of realizing the target impedance is feasible, and it can achieve better training effect by chosen different impedance parameters in the light of patient's illness.

Arm Rehabilitation Robot Impedance Control and Experimentation

A method for increasing the dynamic performance of pneumatic servosystems with digital valves

In this paper, we propose a general controller for complex tasks such as coordination or manipulation for grasping systems or dynamic gaits for legged robots. Moreover, this controller is adapted to pneumatic actuated structures. The aim is then to ensure a dynamic tracking of position and force for systems which may interact with the environment or cooperate with each other. For that, we propose a nonlinear controller based on a computed torque method taking into account the actuator and the mechanical models. The originality lays in the consideration of impedance behaviour at each joint during free and constrained tasks. It leads to continuous control laws between contact and non-contact phases. The asymptotic stability is ensured using Popov criteria. The application proposed is the control of one pneumatic leg of a biped robot. We present a dynamic model of the leg and chosen trajectories. Simulation results of this new controller are presented, leading to a good behaviour of the leg during a whole walking cycle at relatively high velocities.

Joint Impedance Pneumatic Control for Multilink Systems

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

M. Guihard

Author Tools

Chat about Author

Papers

Joint Impedance Pneumatic Control for Multilink Systems