TY - GEN
T1 - Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control
AU - Yang, Junjie
AU - Sun, Hao
AU - An, Hao
AU - Wang, Changhong
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - Impact mitigation is crucial to the stable locomotion of legged robots, especially in high-speed dynamic locomotion. This paper presents a leg locomotion system, including the nonlinear active compliance control and the active impedance control for the steel wire transmission-based legged robot. The developed control system enables high-speed dynamic locomotion with excellent impact mitigation and leg position tracking performance, where three strategies are applied. a) The feed-forward controller is designed according to the linear motor-leg model with the information of Coulomb friction and viscous friction. b) Steel wire transmission model-based compensation guarantees ideal virtual spring compliance characteristics. c) Nonlinear active compliance control and active impedance control ensure better impact mitigation performance than linear scheme and guarantee position tracking performance. The proposed control system is verified on a real robot named SCIT Dog, and the experiment demonstrates the ideal impact mitigation ability in high-speed dynamic locomotion without any passive spring mechanism.
AB - Impact mitigation is crucial to the stable locomotion of legged robots, especially in high-speed dynamic locomotion. This paper presents a leg locomotion system, including the nonlinear active compliance control and the active impedance control for the steel wire transmission-based legged robot. The developed control system enables high-speed dynamic locomotion with excellent impact mitigation and leg position tracking performance, where three strategies are applied. a) The feed-forward controller is designed according to the linear motor-leg model with the information of Coulomb friction and viscous friction. b) Steel wire transmission model-based compensation guarantees ideal virtual spring compliance characteristics. c) Nonlinear active compliance control and active impedance control ensure better impact mitigation performance than linear scheme and guarantee position tracking performance. The proposed control system is verified on a real robot named SCIT Dog, and the experiment demonstrates the ideal impact mitigation ability in high-speed dynamic locomotion without any passive spring mechanism.
KW - Active compliance control
KW - Active impedance control
KW - Impact mitigation
KW - Legged robot
KW - Steel wire transmission
UR - https://www.scopus.com/pages/publications/85125507798
U2 - 10.1109/ICRA48506.2021.9561641
DO - 10.1109/ICRA48506.2021.9561641
M3 - 会议稿件
AN - SCOPUS:85125507798
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2525
EP - 2531
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -