Abstract
In order to reduce the impacts and improve robot's adaptability to complex terrain, position-based impedance control was applied to the compliance control for legged locomotion of the electronic wheel-legged robot and a new impedance controller with fractional order was proposed to improve the contact performance. As the bandwidth of the position closed-loop could affect the realization of the target impedance, an inverse position-loop compensator was introduced to improve the system impedance tracking performance. Simulation and experiment results show that the fractional-order impedance control can not only realize stable contact between the foot and the ground, but also achieve superior contact transition performance in comparison to the conventional second-order mass-damping-spring impedance controller.
| Translated title of the contribution | Research on Leg Impedance Control for Electronic Wheel-Legged Robot Based on Fractional Order |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 187-192 |
| Number of pages | 6 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 39 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1 Feb 2019 |