Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots

Zamzami, Ziad; Amar, Faïz Ben

doi:10.5220/0006012405480557

Cited by 1 publication

(1 citation statement)

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“…Research on the control strategies for suppressing oscillations in flexible robots has focused on impedance control based on the position of inner loops and the force of outer loops. References [29][30][31], respectively, utilized the principle of impedance control on bipedal, quadrupedal, and hexapod robots, conducting research on the motion control of flexible robots based on feedback from force sensors set at the foot ends. However, for deformable flexible mechanisms, it is difficult to achieve effective force tracking based on position impedance control, and due to the influence of impedance model parameters, the system may exhibit steady-state errors [11,32].…”

Section: Introductionmentioning

confidence: 99%

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

Yang,

Liu,

Liu

et al. 2023

Biomimetics

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The motion process of legged robots contains not only rigid-body motion but also flexible motion with elastic deformation of the legs, especially for heavy loads. Hence, the characteristics of the flexible components and their interactions with the rigid components need to be considered. In this paper, a hierarchical control strategy for robots with rigid–flexible coupling characteristics is proposed. This strategy involves (1) leg force prediction based on real-time motion trajectories and feedforward compensation for the error caused by flexible components; (2) building upon the centroid dynamics model of the rigid-body chassis, the centroid trajectories (centroid angular momentum (CAM) and centroid linear momentum (CLM)) and the body trajectory are taken into account to derive the optimal drive torque for maintaining body stability; (3) finally, the precise force control of the hydraulic drive units is achieved through the sliding mode control algorithm, integrating the dynamic model of the flexible legs. The proposed methods are validated on a giant hexapod robot weighing 3.5 tons, demonstrating that the introduced approach can reduce the robot’s vibrations.

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