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

DOI10.1002/ROB.20404MaRDI QIDQ2899423zbMATH OpenOpenAlexWikidataFDO

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

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)

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Cites work

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

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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