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Petrović Milena; Rodić Aleksandar (2008)
Publisher: Faculty of Electronics, Belgrade
Journal: Journal of Automatic Control
Languages: English
Types: Article
Subjects: Electronic computers. Computer science, QA75.5-76.95, Instruments and machines, QA71-90, Mathematics, QA1-939, Science, Q, DOAJ:Computer Science, DOAJ:Technology and Engineering
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.
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