TY - GEN
T1 - Design and experimental evaluation of a hydraulic flexible joint for legged robots
AU - Jiang, Jinlin
AU - Cao, Heng
AU - Wang, Yu
AU - Zhu, Jun
AU - Wang, Xiaolu
AU - Zhang, Xinbin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - In this paper, a hydraulic flexible joint for legged robots is presented to meet the requirements of flexible control and variable stiffness in varies of conditions. A proportional flow valve for closed-loop position control and an inverse proportional pressure valve for output force regulation are combined in series in the hydraulic joint, and force-position hybrid control is adopted for this joint. The detailed design and control method are proposed and analyzed. The experiment results show that the hydraulic flexible joint not only can realize the high accurate position control, but also can proportionally adjust the stiffness in a wide range. When the force and displacement constraints are applied, the performance of hydraulic flexible joint is good under the force-position hybrid control.
AB - In this paper, a hydraulic flexible joint for legged robots is presented to meet the requirements of flexible control and variable stiffness in varies of conditions. A proportional flow valve for closed-loop position control and an inverse proportional pressure valve for output force regulation are combined in series in the hydraulic joint, and force-position hybrid control is adopted for this joint. The detailed design and control method are proposed and analyzed. The experiment results show that the hydraulic flexible joint not only can realize the high accurate position control, but also can proportionally adjust the stiffness in a wide range. When the force and displacement constraints are applied, the performance of hydraulic flexible joint is good under the force-position hybrid control.
KW - Force position hybrid control
KW - Hydraulic flexible joint
KW - Inverse proportional pressure
KW - Legged robots
KW - Variable stiffness
UR - https://www.scopus.com/pages/publications/85080926015
U2 - 10.1109/ICACMVE.2019.00010
DO - 10.1109/ICACMVE.2019.00010
M3 - 会议稿件
AN - SCOPUS:85080926015
T3 - Proceedings - 2019 International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019
SP - 6
EP - 10
BT - Proceedings - 2019 International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019
Y2 - 14 May 2019 through 16 May 2019
ER -