NDLI: Compensation for the landing impact force of a humanoid robot by time domain passivity approach

Content Provider	IEEE Xplore Digital Library
Author	Yong-Duk Kim Bum-Joo Lee Jeong-Ki Yoo Jong-Hwan Kim Jee-Hwan Ryu
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. Eng. & Comput. Sci., KAIST, Daejeon (Yong-Duk Kim; Bum-Joo Lee; Jeong-Ki Yoo; Jong-Hwan Kim)
Abstract	In this paper, a method to reduce the landing impact force is proposed for a stable dynamic walking of a humanoid robot. To measure the meaningful landing impact force, a novel foot mechanism, which uses FSRs (force sensing resistors), is introduced as well. Humanoid robot might become unstable during the walking due to the impulsive contact force from the sudden landing of its foot. Therefore a new control method to decrease the landing impact force has been required. In this paper, time domain passivity control approach is applied for this purpose. Ground and the foot of the robot are modeled as two one-port network systems which are connected and exchanging energy each other. And, the time domain passivity controller which has the landing impact force as input and foot's position to trim off the force as output, is implemented. Unlike previous works, the proposed controller can guarantee the stability of the robot system without any dynamic model information at all. The small sized humanoid robot, HanSaRam-VI which has 25 DOFs, with the proposed foot mechanism is developed to verify the proposed approach through dynamic walking experiments
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	1225
Ending Page	1230
File Size	401733
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1641876
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Foot Legged locomotion Force measurement Force control Force sensors Intelligent robots Humans Surface morphology Educational technology
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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