Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain

DOI10.1002/ROB.20404zbMATH Open1243.70008OpenAlexW2152633340WikidataQ56417623 ScholiaQ56417623MaRDI QIDQ2899423FDOQ2899423

Authors: Addie Irawan, Kenzo Nonami 

Publication date: 30 July 2012

Published in: Journal of Field Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.20404

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• scientific article; zbMATH DE number 6907840

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain
• Climbing obstacle in bio‐robots via CNN and adaptive attitude control

Cited In (8)

• Protective Fuzzy Control of Hexapod Walking Robot Driver in Case of Walking and Dropping
• A general kinematic-based walking algorithm of a hexapod robot on irregular terrain
• Integration of prioritized impedance controller in improved hierarchical operational-space torque control frameworks for legged locomotion robots
• The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot
• Joint space compliance control for a hydraulic quadruped robot based on force feedback
• Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain
• An approach to stable walking over uneven terrain using a reflex-based adaptive gait
• Impedance control for a Stewart-structure-based wheel-legged robotic system in wheel motion

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