TY - GEN
T1 - The improvement of the hydraulic quadruped robot response rapidity and impedance control
AU - Yang, Qingjun
AU - Zhu, Rui
AU - Niu, Zhenguo
AU - Song, Jiaxing
AU - Liu, Yudong
AU - Jie, Chen
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/4
Y1 - 2019/4
N2 - Hydraulic quadruped robots are favored by scientific research institutions in various countries because of their high load and adaptability to unstructured environments. However, research on improving the response rapidity and compliance control of hydraulic robots is still lacking. The improvement of the response rapidity and dynamic compliance are researched. Firstly, the single-leg position control model of hydraulic quadruped robot is established, and based on this, force closed loop is added to realize position-based impedance control. The phenomenon that when the load is large, the hydraulic system responds slowly, so impedance control is difficult to achieve the desired effect, and it is found to be caused by the hysteresis of the position control system. Secondly, by analyzing the natural frequency of the quadruped robot and based on the variation law of the natural frequency of the motion process, the segmented PID control strategy and feedforward control strategy are proposed. Finally, the quadruped robot single-leg experimental platform was built, and the proposed control strategy was tested and verified. The experimental results show that the strategy of segmented PID control and feedforward control can fully improve the response rapidity of the system. On this basis, the position-based impedance control method can be used to reduce the force on the hydraulic cylinder after the robot is impacted.
AB - Hydraulic quadruped robots are favored by scientific research institutions in various countries because of their high load and adaptability to unstructured environments. However, research on improving the response rapidity and compliance control of hydraulic robots is still lacking. The improvement of the response rapidity and dynamic compliance are researched. Firstly, the single-leg position control model of hydraulic quadruped robot is established, and based on this, force closed loop is added to realize position-based impedance control. The phenomenon that when the load is large, the hydraulic system responds slowly, so impedance control is difficult to achieve the desired effect, and it is found to be caused by the hysteresis of the position control system. Secondly, by analyzing the natural frequency of the quadruped robot and based on the variation law of the natural frequency of the motion process, the segmented PID control strategy and feedforward control strategy are proposed. Finally, the quadruped robot single-leg experimental platform was built, and the proposed control strategy was tested and verified. The experimental results show that the strategy of segmented PID control and feedforward control can fully improve the response rapidity of the system. On this basis, the position-based impedance control method can be used to reduce the force on the hydraulic cylinder after the robot is impacted.
KW - Hydraulic quadruped robot
KW - Impedance control
KW - Natural frequency
KW - Rapidity
UR - https://www.scopus.com/pages/publications/85083037409
U2 - 10.1109/FPM45753.2019.9035763
DO - 10.1109/FPM45753.2019.9035763
M3 - 会议稿件
AN - SCOPUS:85083037409
T3 - Proceedings of the 8th International Conference on Fluid Power and Mechatronics, FPM 2019
SP - 346
EP - 354
BT - Proceedings of the 8th International Conference on Fluid Power and Mechatronics, FPM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019
Y2 - 10 April 2019 through 13 April 2019
ER -