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Robust walking stabilization strategy of humanoid robots on uneven terrain via QP-based impedance/admittance control

  • Published:2022-08 Issue: Volume:154 Page:104148
  • ISSN:0921-8890
  • Container-title:Robotics and Autonomous Systems
  • language:en
  • Short-container-title:Robotics and Autonomous Systems

Author:

Jo JoonheeORCID,Park Gyunghoon,Oh YonghwanORCID

Funder

Korea Institute of Science and Technology

Publisher

Elsevier BV

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference25 articles.

1. Landing force control for humanoid robot by time-domain passivity approach;Kim;IEEE Trans. Robot. (TRO),2007

2. Biped robot walking on uneven terrain using impedance control and terrain recognition algorithm;Yoo,2018

3. Force/torque-based compliance control for humanoid robot to compensate the landing impact force;Xu,2010

4. Hybrid control for biped robots using impedance control and computed-torque control;Park,1999

5. A passivity based admittance control for stabilizing the compliant humanoid COMAN;Li,2012

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