Jo, J. Oh, Y. 2024-01-19T09:09:21Z 2024-01-19T09:09:21Z 2022-03-07 2020-10 2153-0858 https://pubs.kist.re.kr/handle/201004/113586 In this paper, we propose the stabilization strategy for a soft landing in a biped walking using impedance control and the optimization-based whole-body control framework. Even though proper contact forces and desired trajectories of the robot are given, the robot can be unstable easily if unexpected forces are applied to the robot or impulsive contact force is produced in the landing state while the robot is walking. Therefore, the impedance control approach using contact forces is performed to obtain the modified references that regulate the modified desired position, velocity and acceleration of the swing foot, and improves the walking stability. Moreover, we perform a whole-body control using quadratic programming (QP) that tracks the modified trajectories constrained with the centroidal momentum dynamics. To validate the algorithm, a walking task on uneven terrain using a humanoid robot is shown. ？ 2020 IEEE. English Institute of Electrical and Electronics Engineers Inc. Impedance control of humanoid walking on uneven terrain with centroidal momentum dynamics using quadratic programming Conference 10.1109/IROS45743.2020.9340799 1 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp.3525 - 3530 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 3525 3530 US 2020-10-24 IEEE International Conference on Intelligent Robots and Systems 000714033801111 2-s2.0-85102411701