TY - GEN
T1 - Single hydraulic actuator actively-compliant research based on the hydraulic quadruped robot
AU - Lu, Haojian
AU - Gao, Junyao
AU - Xie, Lin
AU - Li, Xin
AU - Xu, Zhe
AU - Liu, Yi
AU - Zhao, Jingchao
AU - Cao, Haoxiang
AU - Zhao, Fangzhou
AU - Shi, Xuanyang
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - When the robot appears, various researches on it have been coming out one after the other and changing rapidly. The robotics is refined day after day. Especially in the recent decades, with the emergence and developments of internet and the computers, it makes a remarkable progress and reaches an unprecedented level. The robot is of wide applications because of the rapid developments of robotics. Thus we make more requirements in all aspects of the robots. Compared to the wheeled robots, though the legged robot is lacking in speed efficiency, it's more suitable for practical applications for its high adaptability to environment as well as excellent flexibility in exercise. The overall performance of the quadruped robots is more outstanding that makes it a hot spot in the researches of every country. Then how to maintain the stability of the quadruped robot motion and adaptability to complex terrain, and improve the flexibility of the whole motion process at the same time? This has important significance to its design. For this reason, this paper designs a single drive unit of motion control system, which is based on hydraulic quadruped robot. This paper extracts a driver element from a robot with kinematics and dynamics of the strong coupling complex system and simplifies the analysis of the kinematics and dynamics. In addition, this paper introduces a force control unit and combines position and force control for a single driver element to solve the shortcoming of the existing pure position control stiffness is too large. The active compliance control introduced by this paper can guarantee position servo under the idle condition. This system can move compliantly according to impact size passivity, which is equivalent to reduce the stiffness of the system. Finally, this paper introduce the active compliance control method which is based on the original force and position hybrid control. Compared with the original force and position hybrid control, this method has better controllability and can achieve the ideal effect of flexible.
AB - When the robot appears, various researches on it have been coming out one after the other and changing rapidly. The robotics is refined day after day. Especially in the recent decades, with the emergence and developments of internet and the computers, it makes a remarkable progress and reaches an unprecedented level. The robot is of wide applications because of the rapid developments of robotics. Thus we make more requirements in all aspects of the robots. Compared to the wheeled robots, though the legged robot is lacking in speed efficiency, it's more suitable for practical applications for its high adaptability to environment as well as excellent flexibility in exercise. The overall performance of the quadruped robots is more outstanding that makes it a hot spot in the researches of every country. Then how to maintain the stability of the quadruped robot motion and adaptability to complex terrain, and improve the flexibility of the whole motion process at the same time? This has important significance to its design. For this reason, this paper designs a single drive unit of motion control system, which is based on hydraulic quadruped robot. This paper extracts a driver element from a robot with kinematics and dynamics of the strong coupling complex system and simplifies the analysis of the kinematics and dynamics. In addition, this paper introduces a force control unit and combines position and force control for a single driver element to solve the shortcoming of the existing pure position control stiffness is too large. The active compliance control introduced by this paper can guarantee position servo under the idle condition. This system can move compliantly according to impact size passivity, which is equivalent to reduce the stiffness of the system. Finally, this paper introduce the active compliance control method which is based on the original force and position hybrid control. Compared with the original force and position hybrid control, this method has better controllability and can achieve the ideal effect of flexible.
KW - active compliance control
KW - sensors
KW - the hydraulic quadruped robot
KW - the single hydraulic actuator
UR - https://www.scopus.com/pages/publications/84959935500
U2 - 10.1109/ICInfA.2015.7279493
DO - 10.1109/ICInfA.2015.7279493
M3 - Conference contribution
AN - SCOPUS:84959935500
T3 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
SP - 1331
EP - 1336
BT - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Y2 - 8 August 2015 through 10 August 2015
ER -