Switching impedance control in vertical direction for biped robot with toe and heel joints on uneven terrain

Control for biped robots with toe and heel joints is researched for walking on uneven terrain. In conventional research, a switching impedance controller using rotational torque with the toe and heel joints for adaptation to unknown uneven terrain was proposed. In this research, that controller is modified for the adaptation using vertical reaction force. Additionally, a generation method of force commands for the controller is proposed. The validity of the modified controller with the proposed method was confirmed by experimental results.