Impedance Control of Ascending and Descending Stairs for Humanoid Robot

• Main Authors: Chia-Hung Lin, 林家弘
• Other Authors: Tsu-Tian Lee
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/74q57b

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 sensor to detect if the robot’s foot is currently landing, and transmit the force received on landing to the computer. In the positional impedance controller design part, using the 6-axis force sensor to sense the impact force when in contact with the ground to calculate the retraction distance, and joins the gait trajectory generated by the central pattern generator to reduce the influence of the impact force. In the angle impedance controller design part, using the 6-axis force sensor to sense the torque when the robot is dropped to calculate the angle of the ankle joint so that the sole of the robot is kept parallel to the ground. As the result of the experiment, the proposed Impedance control allows the robot is able to counteract the reaction force when the foot of a humanoid robot lands. Therefore, the proposed method can efficiently reduce the impact force generated.