TY - GEN
T1 - Compliance control of the hydraulic-driven single legged robot
AU - Fan, Yixiao
AU - Li, Xu
AU - Feng, Haibo
AU - Zhang, Songyuan
AU - Zhang, Chengbo
AU - Fu, Yili
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing.
AB - This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing.
UR - https://www.scopus.com/pages/publications/85079073816
U2 - 10.1109/ROBIO49542.2019.8961555
DO - 10.1109/ROBIO49542.2019.8961555
M3 - 会议稿件
AN - SCOPUS:85079073816
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 2117
EP - 2122
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -