A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot
Kuo Yang,
Xinhui Liu,
Changyi Liu
et al.
Abstract:The motion process of legged robots contains not only rigid-body motion but also flexible motion with elastic deformation of the legs, especially for heavy loads. Hence, the characteristics of the flexible components and their interactions with the rigid components need to be considered. In this paper, a hierarchical control strategy for robots with rigid–flexible coupling characteristics is proposed. This strategy involves (1) leg force prediction based on real-time motion trajectories and feedforward compens… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.