Position-based impedance control of a biped humanoid robot

Hun ok Lim*, Samuel Agus Setiawan, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


This paper describes position-based impedance control for biped humanoid robot locomotion. The impedance parameters of the biped leg are adjusted in real-time according to the gait phase. In order to reduce the impact/contact forces generated between the contacting foot and the ground, the damping coefficient of the impedance of the landing foot is increased largely during the first half double support phase. In the last half double support phase, the walking pattern of the leg changed by the impedance control is returned to the desired walking pattern by using a polynomial. Also, the large stiffness of the landing leg is given to increase the momentum reduced by the viscosity of the landing leg in the first half single support phase. For the stability of the biped humanoid robot, a balance control that compensates for moments generated by the biped locomotion is employed during a whole walking cycle. For the confirmation of the impedance and balance control, we have developed a life-sized humanoid robot, WABIAN-RIII, which has 43 mechanical d.o.f. Through dynamic walking experiments, the validity of the proposed controls is verified.

Original languageEnglish
Pages (from-to)415-435
Number of pages21
JournalAdvanced Robotics
Issue number4
Publication statusPublished - 2004


  • Balance control, locomotion
  • Biped humanoid robot
  • Compensatory motion
  • Impact/contact force
  • Impedance control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


Dive into the research topics of 'Position-based impedance control of a biped humanoid robot'. Together they form a unique fingerprint.

Cite this