Journal
IEEE ACCESS
Volume 8, Issue -, Pages 145661-145671Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3015333
Keywords
Legged locomotion; Hydraulic systems; Impedance; Dynamics; Robot sensing systems; Force; Compliance control; active compliance; passive compliance; stability analysis; Z-width
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Funding
- Fundamental Research Funds for the Central Universities [2019JBM051]
- Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Open Foundation for Research [RRC201701]
- Beijing Natural Science Foundation [3204051]
- Science and Technology Research Project of China Railway Corporation [P2018G047]
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In this article, the compliant behavior of an equivalent hydraulic leg is achieved by combining active compliance control of hydraulic cylinder with a passive spring at its end effector. Firstly, a position-based active compliance control is proposed based on impedance control to reduce the contact impact. Secondly, the stability of proposed compliance controller and the range of impedances (Z-width) of compliance control are analyzed, and the design procedure of proposed compliance controller is given out. Finally, experimental results show that the contact impacts could be well handled by the proposed control method. This research provides an insight for the compliance control of hydraulic legged robots.
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