The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot

DOI10.1016/J.JFRANKLIN.2019.08.014MaRDI QIDQ2334154zbMATH OpenOpenAlexWikidataFDO

Authors Yanyan Li

Publication date 7 November 2019

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2019.08.014

zbMATH Keywords

hydraulic drive unitlegged robotposition-based impedance control

Mathematics Subject Classification ID

Frequency-response methods in control theory (93C80) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Robot impedance control and passivity analysis with inner torque and velocity feedback loops

Cited in

(8)

• Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method
• Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots
• Event-triggered optimal interaction control of the MRM system under the complex multi-task constraints: design and experiments
• Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain
• Robust adaptive dynamic surface control for hydraulic quadruped robot hip joint
• Joint space compliance control for a hydraulic quadruped robot based on force feedback
• State-observer-based asymptotic tracking control for electro-hydraulic actuator systems with uncertainties and unmeasurable velocity
• Impedance control for a Stewart-structure-based wheel-legged robotic system in wheel motion

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