Dynamics compensation of impedance-based motion control for LHDS of legged robot

Ba, Kaixian; Song, Yan-he; Yu, Bin; He, Xiaolong; Huang, Zhipeng; Li, Chunhe; Liu, Yuan; Kong, Xianwen

doi:10.1016/j.robot.2020.103704

Cited by 19 publications

(10 citation statements)

References 16 publications

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“…This achieves the active compliance of the robot leg Boaventura, Medrano-Cerda, Semini, Buchli, and Caldwell (2013). Impedance control is also adopted on another single leg actuated by hydraulic Ba, Lou, Yu, Jin, Huang, Li, Yuan, and Kong (2020). These studies are based on hydraulic actuation which is powerful but energy-inefficient though.…”

Section: Related Workmentioning

confidence: 99%

Maximize the Foot Clearance for a Hopping Robotic Leg Considering Motor Saturation

Su¹,

Jin²,

Ye³

et al. 2021

Preprint

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A hopping leg, no matter in legged animals or humans, usually behaves like a spring during the periodic hopping. Hopping like a spring is efficient and without the requirement of complicated control algorithms. Position and force control are two main methods to realize such a spring-like behaviour. The position control usually consumes the torque resources to ensure the position accuracy and compensate the tracking errors. In comparison, the force control strategy is able to maintain a high elasticity. Currently, the position and force control both leads to the discount of motor saturation ratio as well as the bandwidth of the control system, and thus attenuates the performance of the actuator. To augment the performance, this letter proposes a motor saturation strategy based on the force control to maximize the output torque of the actuator and realize the continuous hopping motion with natural dynamics. The proposed strategy is able to maximize the saturation ratio of motor and thus maximize the foot clearance of the single leg. The dynamics of the two-mass model is utilized to increase the force bandwidth and the performance of the actuator. A single leg with two degrees of freedom is designed as the experiment platform. The actuator consists of a powerful electric motor, a harmonic gear and encoder. The effectiveness of this method is verified through simulations and experiments using a robotic leg actuated by powerful high reduction ratio actuators.

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Section: Related Workmentioning

confidence: 99%

Maximize the Foot Clearance for a Hopping Robotic Leg Considering Motor Saturation

Su¹,

Jin²,

Ye³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Also, the control algorithm is mature with a good control effect. For example, the biped robots like BBH from Bath University 11 , NWPUBR-1 from Northwestern Polytechnical University 12 , and the quadruped robots like Hydraulically-powered Quadruped (HyQ) robots from the Institute of Technology in Italy 13 , 14 , 15 , SCalf from Shandong University 16 , 17 and quadruped robot from Yanshan University 18 , 19 , 20 are all driven by servo valve controlled cylinders. However, in an open valve control system with a centralized power source, the power unit should always maintain high pressure to ensure that the system has a high response characteristic.…”

Section: Introductionmentioning

confidence: 99%

Pressure optimization for hydraulic-electric hybrid biped robot power unit based on genetic algorithm

Zhao

Xie

Zhu

et al. 2023

Sci Rep

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Biped robots have attracted increasing attention because of their flexible movement and strong adaptability to the surroundings. However, the small output torque and the weak impact resistance of the motor drive, as well as the large energy consumption of the hydraulic drive limit the performance of the biped robot drive system. Aiming at these shortcomings, an electric-hydraulic hybrid drive system of biped robot was proposed in this paper. The robot platform was designed based on the prototype of the Zhejiang Lab biped robot. The model of the hydraulic drive system and mechanical structure was established to analyze the dynamic characteristic and the load force during walking. The value function reflecting the energy consumption of the hydraulic drive system was proposed. The pressure of the accumulator in the hydraulic power unit was selected as the control parameter. In order to get the minimum value of the value function, so as to reduce the energy consumption of the hydraulic driving system, the control parameters were optimized by using the genetic algorithm. From the simulation results, the proposed optimization algorithm can improve efficiency by 3.49%.

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“…In terms of adapting to complex terrain, because the legged robot has discrete landing points in time and space, it can overcome obstacles with a size similar to the robot's leg length in a non-contact way. Therefore, the environmental adaptability of legged robots is stronger than that of wheeled robots and crawler robots [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

A new control for the pneumatic muscle bionic legged robot based on neural network

Qin

Zhou

et al. 2022

IET Cyber-Syst and Robotics

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The bionic joints composed of pneumatic muscles (PMs) can simulate the motion of biological joints. However, the PMs themselves have non-linear characteristics such as hysteresis and creep, which make it difficult to achieve high-precision trajectory tracking control of PM-driven robots. In order to effectively suppress the adverse effects of nonlinearity on control performance and improve the dynamic performance of PM-driven legged robot, this study designs a double closed-loop control structure based on neural network. First, according to the motion model of the bionic joint, a mapping model between PM contraction force and joint torque is proposed. Second, a control strategy is designed for the inner loop of PM contraction force and the outer loop of bionic joint angle. In the inner control loop, a feedforward neuron Proportional-Integral-Derivative controller is designed based on the PM three-element model. In the control outer loop, a sliding mode robust controller with local model approximation is designed by using the radial basis function neural network approximation capability. Finally, it is verified by simulation and physical experiments that the designed control strategy is suitable for humanoid motion control of antagonistic PM joints, and it can satisfy the requirements of reliability, flexibility, and bionics during human-robot collaboration.

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Dynamics compensation of impedance-based motion control for LHDS of legged robot

Cited by 19 publications

References 16 publications

Maximize the Foot Clearance for a Hopping Robotic Leg Considering Motor Saturation

Maximize the Foot Clearance for a Hopping Robotic Leg Considering Motor Saturation

Pressure optimization for hydraulic-electric hybrid biped robot power unit based on genetic algorithm

A new control for the pneumatic muscle bionic legged robot based on neural network

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