Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/51924 |
| _version_ | 1818311644129787904 |
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| author | Rong Xiong Yichao Sun Qiuguo Zhu Jun Wu Jian Chu |
| author_facet | Rong Xiong Yichao Sun Qiuguo Zhu Jun Wu Jian Chu |
| author_sort | Rong Xiong |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-13T08:05:14Z |
| format | Article |
| id | doaj.art-f521b984f71f41efaab5465f97e86471 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T08:05:14Z |
| publishDate | 2012-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-f521b984f71f41efaab5465f97e864712022-12-21T23:54:20ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-11-01910.5772/5192410.5772_51924Impedance Control and its Effects on a Humanoid Robot Playing Table TennisRong Xiong0Yichao Sun1Qiuguo Zhu2Jun Wu3Jian Chu4 State Key Laboratory of Industrial Control Technology, Zhejiang University State Key Laboratory of Industrial Control Technology, Zhejiang University State Key Laboratory of Industrial Control Technology, Zhejiang University State Key Laboratory of Industrial Control Technology, Zhejiang University State Key Laboratory of Industrial Control Technology, Zhejiang UniversityThis 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.https://doi.org/10.5772/51924 |
| spellingShingle | Rong Xiong Yichao Sun Qiuguo Zhu Jun Wu Jian Chu Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis International Journal of Advanced Robotic Systems |
| title | Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis |
| title_full | Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis |
| title_fullStr | Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis |
| title_full_unstemmed | Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis |
| title_short | Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis |
| title_sort | impedance control and its effects on a humanoid robot playing table tennis |
| url | https://doi.org/10.5772/51924 |
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