Impedance control for biped robot walking on uneven terrain

This paper proposes a method for a biped robot to walk on uneven terrains. For stable locomotion, it is necessary for the biped robot to adapt to the ground conditions with suitable foot motions and to reduce the magnitude of the ground reaction forces (GRFs) applied at the feet that are in contact with the ground. This paper suggests the impedance control scheme with a variable desired force to reduce the GRFs. The effectiveness and performance of the proposed control scheme are demonstrated in computer simulations with a 12-DOF biped robot.