Impedance Control of Ascending and Descending Stairs for Humanoid Robot
碩士 === 淡江大學 === 電機工程學系機器人工程碩士班 === 106 === In this thesis, a Impedance control is designed and implemented for humanoid robot. There are three main parts: (1)landing detection, (2)positional impedance controller, and (3)angle impedance controller. In the landing detection, using a 6-axis force senso...
| Main Authors: | , |
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2018
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| Online Access: | http://ndltd.ncl.edu.tw/handle/74q57b |