Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model
The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control bas...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/8142161 |
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