Impedance Control of a Compliant Robotic Leg For Reducing Landing Ground Impact

doi:10.1109/IECON55916.2024.10905170

	Impedance Control of a Compliant Robotic Leg For Reducing Landing Ground Impact
	Junlei Zhu; Yu Hu; Yiming Chen; Jiahao Chen
	2024-11-06
会议录名称	IECON 2024 - 50TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
DOI	10.1109/IECON55916.2024.10905170
摘要	This paper discusses the implementation of impedance control method to a pair of backdrivable actuators for compliant walking of bipedal robot. The ability of simulating various stiffness of the mechanical joints is validated with experimental measurement. The experiment further shows promising results that the impedance control is able to reduce the ground impact force to protect the hardware.
会议地点	Chicago, IL, USA
会议日期	3-6 Nov. 2024
URL	查看原文
收录类别	EI
来源库	IEEE
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/452306
专题	信息科学与技术学院信息科学与技术学院_硕士生信息科学与技术学院_本科生信息科学与技术学院_PI研究组_陈嘉豪组
作者单位	School of Information Science and Technology, ShanghaiTech University, China
第一作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Junlei Zhu,Yu Hu,Yiming Chen,et al. Impedance Control of a Compliant Robotic Leg For Reducing Landing Ground Impact[C],2024.