Design and experimentation of jump impact controller

Chiu, D.; Lee, S.

doi:10.1109/robot.1996.506989

Cited by 4 publications

(1 citation statement)

References 6 publications

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“…Secondly, post-processing methods that deal with the impact directly have been proposed. Those are impedance controller [5,6], damping controller [7][8][9][10], external force controller [11], PI force controller with velocity feedback [12], nonlinear PD controller [13], end point controller [14], event based controller [15], jump impact controller [16], input command preshaping controller [17] and so on.…”

Section: Introductionmentioning

confidence: 99%

Two Transition Phase Control Methods for Hard Contact

Doh

Chung

Youm

et al. 2006

Journal of Dynamic Systems, Measurement, and Control

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A hard contact is an impact that occurs when the robot contacts a stiff environment with a high velocity. In the pretransition phase of the hard contact, it is important to maintain stability while reducing succeeding force peaks and the duration time. For these purposes, we propose two control methods. One is a suppression controller that suppresses position rebounds in-between the impact time. The other is a flexible-damped joint with a joint damping controller. The flexible-damped joint is a new joint type designed to increase the hardware damping. It is controlled by a novel controller, called the joint damping controller, to enhance damping. The major advantage of the proposed methods is a guaranteed stability. The performance of the proposed methods is validated via several comparative experiments.

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