Research on impedance control based on force servo for single leg of hydraulic legged robot

Fu, Yili; Luo, Jianwen; Ren, Danmei; Zhou, Haitao; Xu, Li; Zhang, Songyuan

doi:10.1109/icma.2017.8016054

Cited by 10 publications

(4 citation statements)

References 13 publications

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“…Besides the two major categories of applications above, other impedance control applications mainly aim to realize the motion of robotic devices with adjustable compliance. The detailed applications involve the walking of biped robots, 5,173,174 the compliant motion of various legged robots, [175][176][177][178][179] the grasping of robotic hand, 180,181 and so on. 182,183 To control the locomotion of biped robots, each gait cycle is divided into three main phases upon the research on human walking.…”

Section: Othersmentioning

confidence: 99%

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Song¹,

Yu²,

Zhang

2019

Robotica

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SummaryThere have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.

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Section: Othersmentioning

confidence: 99%

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Song¹,

Yu²,

Zhang

2019

Robotica

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“…For the three-joint leg structure, the Jacobian matrix can be calculated as equation (2): (2) Therefore, the manipulability can be calculated with Similar, the Jacobian matrix for the two-part leg structure can be calculated as equation 3: For the three-joint leg structure, the Jacobian matrix can be calculated as Equation 2:…”

Section: Leg Structure Comparison With Kinematics Analysismentioning

confidence: 99%

“…Legged robots are more suitable for applications with rough terrain and complex cluttered environments compared to wheeled robots [1][2][3]. With respect to the leg length, quadruped robots can freely select contact points while making contact with the environment.…”

Section: Introductionmentioning

confidence: 99%

Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

Zeng

Zhang

et al. 2019

Applied Sciences

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In this paper, a single leg platform for quadruped robots is designed based on the motivation of high-speed locomotion. The leg is designed for lightweight and low inertia with a structure of three joints by imitating quadruped animals. Because high acceleration and extensive loadings will be involved on the legs during the high-speed locomotion, the trade-off between the leg mass and strength is specifically designed and evaluated with the finite element analysis. Moreover, quadruped animals usually increase stride frequency and decrease contact time as the locomotion speed increases, while maintaining the swing duration during trot gait. Inspired by this phenomenon, the foot-end trajectory for quadruped robots with a high-speed trot gait is proposed. The gait trajectory is planned for swing and stance phase; thus the robot can keep its stability with adjustable trajectories while following a specific gait pattern. Especially for the swing phase, the proposed trajectory can minimize the maximum acceleration of legs and ensure the continuity of position, speed, and acceleration. Then, based on the kinematics analysis, the proposed trajectory is compared with the trajectory of Bézier curve for the power consumption. Finally, a simulation with Webots software is carried out for verifying the motion stability with two trajectory planning schemes respectively. Moreover, a motion capture device is used for evaluating the tracking accuracy of two schemes for obtaining an optimal gait trajectory suitable for high-speed trot gait.

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“…We have designed a six-legged movable repetitive lander “HexaMRL” in previous work to integrate the function of both lander and rover. IDUs are used to simulate the dynamic characters of an active dissipative system of spring and dampener by impedance control to achieve a buffered landing and protect the leg structure, different from the irreversible deformation of aluminum honeycomb material after landing [ 22 , 23 , 24 ]. Hence, the lander can still execute locomotion as a rover.…”

Section: Introductionmentioning

confidence: 99%

Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander

Yin

Zhou

Sun

et al. 2021

Sensors

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The cascading launch and cooperative work of lander and rover are the pivotal methods to achieve lunar zero-distance exploration. The separated design results in a heavy system mass that requires more launching costs and a limited exploration area that is restricted to the vicinity of the immovable lander. To solve this problem, we have designed a six-legged movable repetitive lander, called “HexaMRL”, which congenitally integrates the function of both the lander and rover. However, achieving a buffered landing after a failure of the integrated drive units (IDUs) in the harsh lunar environment is a great challenge. In this paper, we systematically analyze the fault-tolerant capacity of all possible landing configurations in which the number of remaining normal legs is more than two and design the landing algorithm to finish a fault-tolerant soft-landing for the stable configuration. A quasi-incentre stability optimization method is further proposed to increase the stability margin during supporting operations after landing. To verify the fault-tolerant landing performance on the moon, a series of experiments, including five-legged, four-legged and three-legged soft-landings with a vertical landing velocity of −1.9 m/s and a payload of 140 kg, are successfully carried out on a 5-DoF lunar gravity ground-testing platform. The HexaMRL with fault-tolerant landing capacity will greatly promote the development of a next-generation lunar prober.

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Research on impedance control based on force servo for single leg of hydraulic legged robot

Cited by 10 publications

References 13 publications

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait

Lunar Surface Fault-Tolerant Soft-Landing Performance and Experiment for a Six-Legged Movable Repetitive Lander

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