Design of an Active Compliance Controller for a Bionic Hydraulic Quadruped Robot

Zhang, Xiaoxing; Jiang, Xiaoqiang; Luo, Xin; Chen, Xuedong

doi:10.1007/978-3-319-65292-4_73

Cited by 2 publications

(1 citation statement)

References 9 publications

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“…However, these methods make robot structure design and motion control more difficult, as well as restricts its application due to the limited range of stiffness. Comparatively, the virtual elasticity methods, through active compliance control, such as the impedance [ 8 , 9 , 52 ] or admittance control [ 53 , 54 ], the virtual model control (VMC) [ 55 ], and the vertical impulse scaling of ground reaction force [ 35 , 38 , 39 ] demonstrate better adaptability. These methods improve the robot’s performance in challenging terrains due to the wider range of stiffness adjustment capability.…”

Section: Introductionmentioning

confidence: 99%

A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Zhang

Liu

et al. 2021

Sensors

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There has been a rising interest in compliant legged locomotion to improve the adaptability and energy efficiency of robots. However, few approaches can be generalized to soft ground due to the lack of consideration of the ground surface. When a robot locomotes on soft ground, the elastic robot legs and compressible ground surface are connected in series. The combined compliance of the leg and surface determines the natural dynamics of the whole system and affects the stability and efficiency of the robot. This paper proposes a bio-inspired leg compliance planning and implementation method with consideration of the ground surface. The ground stiffness is estimated based on analysis of ground reaction forces in the frequency domain, and the leg compliance is actively regulated during locomotion, adapting them to achieve harmonic oscillation. The leg compliance is planned on the condition of resonant movement which agrees with natural dynamics and facilitates rhythmicity and efficiency. The proposed method has been implemented on a hydraulic quadruped robot. The simulations and experimental results verified the effectiveness of our method.

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Section: Introductionmentioning

confidence: 99%

A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Zhang

Liu

et al. 2021

Sensors

Self Cite

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Walking robots for rescue operations: overview and analysis of the existing models

Андреевна¹

2021

Кибернетика И Программирование

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This article explores the walking robots that are used or assist in nondeterministic environment, such as rescue operations. This required carrying out in-depth analysis of the existing models to acquire relevant information on the robots with walking mechanisms in accordance with several criteria: parameters, weight, degrees of freedom, speed of movement, input energy, runtime, maximum load, advantages and disadvantages of the reviewed models. Using the methods of comparative and critical analysis, the author analyzed the available materials for the past 5 years, which allowed accomplishing the set tasks. The results consist in compiling a summary table for largely generalized groups of walking robots and three tables for the models under review, which summarize their advantages and weaknesses. Such data would broaden the knowledge of the researchers dealing with the walking robots, analyze both national and foreign studies on the topic, apply this experience in further work, focus on solution of the problems, and emphasize the uniqueness and relevance of their developments. This article determines the peculiarities of utilization of walking robots specifically in rescue operations; however, the scope of their applicability can be broader. The author also describes the nontraditional locomotors of walking robots, which are widely known in media, video hosting, and other tools of receiving information.

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Design of an Active Compliance Controller for a Bionic Hydraulic Quadruped Robot

Cited by 2 publications

References 9 publications

A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Walking robots for rescue operations: overview and analysis of the existing models

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