scholarly journals Synthesis of adaptive impedance control for bipedal robot mechanisms

2008 ◽  
Vol 18 (1) ◽  
pp. 15-18 ◽  
Author(s):  
Milena Petrovic ◽  
Aleksandar Rodic
Keyword(s):  
Humanoid Robot ◽  
Walking Speed ◽  
Impedance Control ◽  
Bipedal Robot ◽  
Parameter Modulation ◽  
Adaptive Impedance Control

The paper describes the impedance algorithm in locomotion of humanoid robot with proposed parameter modulation depending on the gate phase. The analysis shows influence of walking speed and foot elevation on regulator's parameters. Chosen criterion cares for footpath tracking and needed energy for that way of walking. The experiments give recommendation for impedance regulator tuning.

Feasibility of an optimal EMG-driven adaptive impedance control applied to an active knee orthosis

2019 ◽  
Vol 112 ◽  
pp. 98-108 ◽  
Author(s):  
Guido G. Peña ◽  
Leonardo J. Consoni ◽  
Wilian M. dos Santos ◽  
Adriano A.G. Siqueira
Keyword(s):  
Impedance Control ◽  
Adaptive Impedance Control ◽  
Knee Orthosis

scholarly journals Optimal Gait Generation in Biped Locomotion of Humanoid Robot to Improve Walking Speed

Biped Robots ◽  
10.5772/13871 ◽  
2011 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Masahiro Ohk
Keyword(s):  
Humanoid Robot ◽  
Walking Speed ◽  
Biped Locomotion ◽  
Gait Generation ◽  
Optimal Gait
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