@inproceedings{000cca5ddf464c769c0e3c3d2ea4f264,
title = "Research on impedance control based on force servo for single leg of hydraulic legged robot",
abstract = "A force servo based impedance controller that allows compliant behaviours of the leg of a hydraulic legged robot has been presented in this paper. A novel velocity compensation algorithm which makes for elimination of the redundant forces is also included. Their performance is assessed on a 2-DOF hydraulic leg whose kinematics and transfer functions have been modeled. A double hydraulic cylinders experiment platform is designed for performance testing of the force tracking of the hydraulic actuators. Experimental results have shown a good performance of the impedance controller which allows arbitrary virtual stiffness and damping of the leg.",
keywords = "Force servo, Hydraulic legged robot, Impedance control, Velocity compensation",
author = "Yili Fu and Jianwen Luo and Danmei Ren and Haitao Zhou and Xu Li and Songyuan Zhang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",
year = "2017",
month = aug,
day = "23",
doi = "10.1109/ICMA.2017.8016054",
language = "英语",
series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1591--1596",
booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
address = "美国",
}