Abstract
The purpose of this paper was to extend a landing force control method on the flat terrain proposed by Y.D Kim etc. [1] to absorb the impulsive ground reaction force for biped robot stable walking on the slope. Firstly, the swing foot and the terrain are modeled as two three-ports network systems that are connected respectively, and exchange energy with each other. Secondly, the impulsive impact of the ground reaction force is suppressed to improve the walking stability of biped robot using the extended time-domain passivity control with admittance causality that has the reaction forces measured by 6-axis Force/Torque sensor equipped in the ankle of biped robot as inputs and the decomposed swing foot's positions (x-axis, y-axis, z-axis) to trim off the forces as the outputs. The experiment data and results are described and analyzed, showing that the extended landing force control strategy can suppress the impulsive force and improve the walking stability during walking on the slope.
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