Research on decoupling control of single leg joints of hydraulic quadruped robot
Bingwei Gao,
Hongjian Zhao,
Wenlong Han
et al.
Abstract:Purpose
This study proposes a predictive neural network model reference decoupling control method for the coupling problem between the leg joints of hydraulic quadruped robots, and verifies its decoupling effect..
Design/methodology/approach
The machine–hydraulic cross-linking coupling is studied as the coupling behavior of the hydraulically driven quadruped robot, and the mechanical dynamics coupling force of the robot system is controlled as the disturbance force of the hydraulic system through the Jacobia… Show more
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