2017 IEEE International Conference on Mechatronics and Automation (ICMA) 2017
DOI: 10.1109/icma.2017.8016054
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Research on impedance control based on force servo for single leg of hydraulic legged robot

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Cited by 11 publications
(6 citation statements)
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“…Besides the two major categories of applications above, other impedance control applications mainly aim to realize the motion of robotic devices with adjustable compliance. The detailed applications involve the walking of biped robots, 5,173,174 the compliant motion of various legged robots, [175][176][177][178][179] the grasping of robotic hand, 180,181 and so on. 182,183 To control the locomotion of biped robots, each gait cycle is divided into three main phases upon the research on human walking.…”
Section: Othersmentioning
confidence: 99%
“…Besides the two major categories of applications above, other impedance control applications mainly aim to realize the motion of robotic devices with adjustable compliance. The detailed applications involve the walking of biped robots, 5,173,174 the compliant motion of various legged robots, [175][176][177][178][179] the grasping of robotic hand, 180,181 and so on. 182,183 To control the locomotion of biped robots, each gait cycle is divided into three main phases upon the research on human walking.…”
Section: Othersmentioning
confidence: 99%
“…For the three-joint leg structure, the Jacobian matrix can be calculated as equation (2): (2) Therefore, the manipulability can be calculated with Similar, the Jacobian matrix for the two-part leg structure can be calculated as equation 3: For the three-joint leg structure, the Jacobian matrix can be calculated as Equation 2:…”
Section: Leg Structure Comparison With Kinematics Analysismentioning
confidence: 99%
“…Legged robots are more suitable for applications with rough terrain and complex cluttered environments compared to wheeled robots [1][2][3]. With respect to the leg length, quadruped robots can freely select contact points while making contact with the environment.…”
Section: Introductionmentioning
confidence: 99%
“…In this way,we can utilize such network support combined with various wireless devices to better control advanced robots such as emotional recognition robots,adaptive legged robot (flexible robot technology),and unmanned aerial vehicles(autonomous driving technology).The application of each kind of robots is pretty meaningful. For instance,as an important topic in the field of artificial intelligence, emotion recognition can help computers intelligently recognize human emotions and make Human-Robot Interaction more friendly.Legged robot is a critical field of mobile robotics thanks to its adaptability on sophisticated and irregular ground.Achieving versatile robot locomotion requires motor skills that can adapt to previously unseen situations [2] .Consequently,providing the legged robot with more useful environmental information conveyed by electric signals is a crucial issue,particularly for heavy-duty legged robots(HLLR) requiring stable locomotion [3] .Furthermore,as for unmanned aerial vehicles(UAV),whether it is to assist traffic, supervision of scenic spots, or tourism aerial photography, commercial performances, UAV have shown great value and charm to people.…”
Section: Introductionmentioning
confidence: 99%