Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control

Ba, Kaixian; Yu, Bin; Gao, Zhengjie; Zhu, Qiuguo; Ma, Guoliang; Kong, Xianwen

doi:10.1109/access.2018.2877408

Cited by 12 publications

(14 citation statements)

References 22 publications

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“…To verify the validity of the MVIC designed in Section III, the integral separation PI controller designed in the author's previous research [27], [29] is used as a comparison reference. Under each working condition shown in Table 1.…”

Section: Resultsmentioning

confidence: 99%

“…In previous research by the author, force control performance and its parameter sensitivity of the HDU were studied in many aspects, providing an accurate force control mathematical model for this paper [5], [27]. Moreover, the dynamic compliance of the position control system and the force control system of the HDU were researched, and a compliancereduced controller and compliance-enhanced controller were designed to improve the disturbance rejection ability of both the position and force control system [28], [29]. However, the above research results only improved the disturbance rejection ability when the system has no input.…”

Section: Introductionmentioning

confidence: 99%

“…The closed-loop force control transfer block diagram of the HDU is shown in Fig. 2 The derivation in detail and performance analysis are presented in previous research by the author [27], [29]. In Fig.…”

Section: Introduction Of Hdu Force Control Systemmentioning

confidence: 99%

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Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

Liu

et al. 2019

IEEE Access

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A hydraulic drive unit (HDU), applied in each joint of a hydraulic driven legged robot, usually adopts the impedance control outer loop based on the hydraulic position or the force control inner loop during the motion process. When the hydraulic control adopts closed-loop force control, its control performance can directly determine the control performance of the impedance control outer loop. Therefore, it is significant to design a high-accuracy force control method aimed at HDUs. In this paper, aiming at the above research concept, the force control system of the HDU is introduced first, and the lack of the force control performance is studied under different working conditions on the HDU performance test platform. Second, a model-based variable input controller (MVIC) is designed to improve the force control performance. Finally, the control performance of the MVIC is verified on the HDU performance test platform. The experimental results show that the MVIC can greatly improve the force control accuracy under different working conditions and that the controller has good robustness. The above research results can provide important reference and lay the experimental foundation for force-based impedance control. INDEX TERMS Legged robot, hydraulic drive unit (HDU), force control, model-based variable input control (MVIC).

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

Liu

et al. 2019

IEEE Access

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“…The research of climbing robot motion includes kinematics and dynamics analysis [32], motion trajectory planning [33] and balance stability research [34].…”

Section: Forward Kinematics Of Tree Climbing Robotmentioning

confidence: 99%

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang¹,

Huang²,

et al. 2020

Preprint

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In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

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“…Impedance control only realizes indirect force control through a compliant outer loop attached to the controller. The literature [15] [16] discusses the principle of series-parallel composition of the dynamic compliance of impedance control, and studies the influence of outer loop error and inner loop control error on impedance control.…”

Section: Introductionmentioning

confidence: 99%

Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

Zhang

et al. 2020

IEEE Access

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Legged robots have extremely strong adaptability in different terrain environment and their stable walking in the wild is still a current research hotspot. Although they have shown great motion performance in recent years, most of them rely on high-performance sensors , especially force sensors settled on foot. However, it is impractical to select special forces sensors in the field environment, and the performance degradation and noise during the usage will bring fatal control defects. In order to solve this problem, we propose a foot contact force estimation method that does not require force sensors, and applies the estimated contact force to the impedance control of the legged robot to achieve the robot's active compliance control. The method of force estimation is based on the generalized momentum of the robot. It only needs to provide the position information of the joint and the information of the applied control torque. The designed feedforward and compensation terms effectively improve the speed and accuracy of the force estimation. We improved the response speed of the system to the contact force by improving the structure of the impedance control, and applied the estimated contact force to the impedance control to achieve the stable motion of the quadruped robot. Simulation experiments verify the effectiveness of the proposed force estimation method.

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Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control

Cited by 12 publications

References 22 publications

Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

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