Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control | Zendy

Kaixian Ba | Zendy; Bin Yu | Zendy; Zhengjie Gao | Zendy; Qixin Zhu | Zendy; Guoliang Ma | Zendy; Xiangdong Kong | Zendy

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Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control

Author(s) -

Kaixian Ba,

Bin Yu,

Zhengjie Gao,

Qixin Zhu,

Guoliang Ma,

Xiangdong Kong

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2877408

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In this paper, the dynamic compliance analysis for force-based impedance control is studied. First, the mathematical model of legged robot joint hydraulic driver, called hydraulic drive unit (HDU), is built. Then the force-based impedance control model of the leg hydraulic drive system (LHDS) is built based on the robot system kinematics, statics and dynamics. Next the dynamic compliance of the control model is studied and found to be composed in a serial-parallel structure. Further, the two main factors which influence the impedance control accuracy are found. Finally, the composition theory of dynamic compliance is proved by experiments. The theory proposed in this paper provide theoretical foundation for the compensation of force-based impedance control.

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