Impedance control for a Stewart‐structure‐based wheel‐legged robotic system in wheel motion
Dongchen Liu,
Junzheng Wang,
Dawei Shi
Abstract:SummaryAn impedance control scheme is proposed for a Stewart‐structure‐based wheel‐legged robotic system to strengthen the dynamic attitude adjustment stability in wheel motion. The wheel‐leg, which is driven by electrical cylinders in the Stewart structure, is analyzed in kinematics and dynamics. The rotation in the axial direction of every electric cylinder is calculated to improve the accuracy of the kinematic model. To fulfill the impedance demands, a passive structure with 6 degrees of freedom (DOF) is mo… 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.