의사-임피던스 모델을 이용한 비평탄면에서의 2족보행로봇의 보행

This paper proposes the control method for biped robot on irregularly protruded uneven surface using pseudo-impedance model. The pseudo-impedance model imitates behavior of landing characteristics of human ankle. The human ankle characteristics are briefly distinguished two phases when foot is contacting with ground. The first phase of landing have characteristics that human make no effort to ankle. So the foot is just adjusted to ground. After the first phase of landing phase, weight acceptance phase is occurred. On this phase human make effort to the ankle to regulate desired forces and torques. Computer simulations of 12-DOF biped robot with the 6-DOF environment model show that the stable locomotion on the irregular surface are achieved by the proposed method.