@inproceedings{413e1df061a4401d805f0b9c201af913,
title = "Research on Vibration Isolation Control of Six wheel-legged Robot Based on Impedance Control",
abstract = "The electric parallel six wheel-legged robot (EPSWLR) is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control (IC) still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control (AIC) algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.",
keywords = "Adaptive algorithm, Electric parallel six wheel-legged robot, Impedance control, Stewart structure",
author = "Binkai Yue and Shoukun Wang and Zhihua Chen and Kang Xu and Junzheng Wang",
note = "Publisher Copyright: {\textcopyright} 2020 Technical Committee on Control Theory, Chinese Association of Automation.; 39th Chinese Control Conference, CCC 2020 ; Conference date: 27-07-2020 Through 29-07-2020",
year = "2020",
month = jul,
doi = "10.23919/CCC50068.2020.9189175",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3978--3983",
editor = "Jun Fu and Jian Sun",
booktitle = "Proceedings of the 39th Chinese Control Conference, CCC 2020",
address = "United States",
}