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General information |
| Author |
Xiong, Rong; Sun, Yichao; Zhu, Qiuguo; Wu, Jun; Chu, Jian |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
This paper proposes an impedance control
scheme used on humanoid robots for stability
maintenance when the robot is expected to carry out fast
manipulatory tasks. We take table tennis playing as an
example to study this issue. The fast acceleration required
by table tennis rallying will result in an unknown large
reaction force on the robot, causing the body to swing
back and forth in an oscillating motion and the foot to
lose complete contact with the ground. To improve the
stability during fast manipulation and in order to resist
disturbances due to the reaction force, we introduce
impedance control to absorb the impact and decrease the
amplitude of body swinging. The system’s adjusting time
is also reduced and the oscillations are eliminated
according to the experimental results, which show the
effectiveness of our scheme. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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